Feedforward Compensation by Specified Step Settling Considering Frequency Shaping of Control Input

摘要

This paper presents a novel feedforward compensation for the fast and precise positioning control in mechatronic systems. The proposed compensator is designed considering the frequency shaping in control input to suppress the residual vibration, under the constraint of a specified number of steps in position reference. A two-degree-of-freedom positioning controller with the proposed feedforward compensation can ensure the required settling performance with the specified number of steps regardless of the positioning amplitude in reference. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype of galvano scanner.