New direct velocity and acceleration feedforward tracking control in a retrofitted milling machine

Abstract

This paper proposes a new feedforward controller called the direct velocity and acceleration feedforward controller (DVAFF) to improve the tracking performance. The controller is adapted to both minimum phase system and nonminimum phase system and it can also take the practical driving capability of actuator and saturation of D/A converter into account by tuning their gains. Simulation and experiment results show that the proposed new DVAFF scheme can effectively improve the motion accuracy.