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Self-commissioning feedforward control for industrial servo drive

The demand for higher dynamics and precision in modern servo drive applications requests further advancements of the control structures. An approach to improve the reference action of the position control loop significantly is the use of a feedforward control for torque and speed command. On the other hand, this leads to an increasing quantity of parameters for the control structure and a higher commissioning effort due to the fact that the parameters need to be matched exactly to the mechanical properties of the drive. A method to determine feedforward parameters automatically is described in this paper