Design of Acceleration Feedforward and Study of Calibration Algorithm

This paper introduces a new acceleration feedforward control strategy. The proposed feedforward control consists of a feedforward coefficient and a delay element. A calibration algorithm is provided which calculates the feedforward coefficient and delay time accurately based on experiments. And a detailed calibration process is described. The feedforward control can make model-based feedforward design simple and can gain high tracking performance. Experimental results demonstrate the feasibility and effectiveness of the proposed feedforward control strategy and calibration algorithm.