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I wanted some clarification on the feed forward acceleration. We have a cascaded servo loop setup. For our inner loop I wanted to examine the DesAccel (second derivative of DesPos). I see there is DesPos and DesVel, is there in internal register which holds the value of DesAccel or again is this something which must be determine via post processing.
We do not store a value of DesAccel between servo cycles. Each servo cycle we compute DesAccel = DesVel[n] - DesVel[n-1] and then multiply it by the acceleration feedforward gain, but have no need to store it for the next cycle.

We store DesVel so we can compute DesAccel in the next servo cycle.

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