Velocity control feedforward term
Posted: Wed Nov 14, 2018 2:29 pm
Is there a feedforward term in the velocity PID controller? Is it simply proportional to the commanded velocity? I want to control a motor driving a gravity-loaded joint. Adding a fixed positive or negative feedforward value to the PID output depending on the direction of desired motion will allow me to work with one set of PID gains for motion in both directions. But I don't see any way to add a feedforward term in the UI.