Identification and Validation Data for Robust Inverse Feedforward with Hybrid Modeling

<p>Experimental dataset for model identification and validation of feedforward control on a five-axis milling machine.</p>

<p>
This dataset belongs to the Open Access publication "Robust Inversion-Based Feedforward Control With Hybrid Modeling for Feed Drives"
(doi: <a href="https://doi.org/10.1109/TCST.2024.3512862">10.1109/TCST.2024.3512862</a>)
A detailed description of the setup can be found in the publication. </p>

<p>Feedback controllers from frequency inverter:</p>

<ul>
<li> PI velocity controller with Kp = 0.035 [Nm/(rad/s)], Tn = 2.6 [ms].</li>
<li> P position controller with Kp = 35 [1/s].</li>
</ul>

<p>The dataset contains the following folders (Please refer to corresponding setup.txt for more details):</p>

<ul>
<li> const_velocities
<br> measurements for identification with different constant velocities as reference.
</li>
<li> velocity_sweeps
<br> measurements for identification with velocity sweeps to estimate the analytical approximation of velocity control loop (with constant velocity offset + sweeps as reference)
</li>
<li> execution_time_GP
<br> execution time of feedforward compensation with GP model with unit [μs].
<br> measured in TwinCAT 3 system with the function block "Profiler" (PLC Library-> Tc2_Utilities)
</li>
<li> robustness_analytic_model
<br> robustness test against errors in analytical model G0.
</li>
<li> robustness_GP_model
<br> robustness test against errors in data-driven GP model.
</li>
<li> tracking results
<br> tracking results compared to baseline controller with velocity and acceleration feedforward
</li>
</ul>