Feed forward control concept for electric drives

The position control of electric drives and robots requires an additional feed forward control, in order to consider the actuator and mechanical limitations of the drive and to ensure a high dynamic and accuracy. For this purpose, a pattern generator design based on the method of phase planes is developed, which is real-time capable and easy to implement. Beside of necessary requirements regarding the control, also numerical aspects are taken into account. The proposed feed forward control structure is afterwards integrated into a state space controller and is as well used as additional prefilter. The theoretical results are experimentally validated by use of a test bench for each measure. As a key result one can state, that the tracking performance of the developed real-time capable feed forward control is much higher at less computational effort compared to common approaches.