Systems and methods for dynamic feedforward
View Patent ↗In some embodiments, a method of using feedforward to control a system component may include determining if a feedforward term exists in a feedforward table for a received operating set point. If a feedforward term does not exist, the system component may be incremented until the system is within a first acceptable tolerance of the desired set point. In some embodiments, a measure of steady state error may be determined and compared to a second acceptable tolerance. If within the acceptable tolerance, the corresponding feedforward term may be recorded in the feedforward table. In some embodiments, if the feedforward term exists for the operating set point, the system component may be controlled using controller output that corresponds to the feedforward term. When a change to the system is detected that is associated with possible changes to the feedforward values, new feedforward values may be generated for the feedforward table.
1. A method, comprising:
subdividing an operating range of a system component of a system into two or more set points or set point regions of operation;
creating a feedforward table for mapping feedforward terms to the two or more set points or set point regions of operation;
receiving a desired set point;
determining if a feedforward term exists for the desired set point;
if the feedforward term does not exist for the desired set point,
incrementing a system component as needed using controller output to move the system to within a first acceptable tolerance of the desired set point;
determining if a measure of steady state error for the system is within a second acceptable tolerance;
if the measure of steady state error for the system is within the second acceptable tolerance, recording a feedforward term, corresponding to a current controller output, in the feedforward table for the current desired set point;
if the measure of steady state error for the system is not within the second acceptable tolerance, not recording a feedforward term in the feedforward table for the desired set point;
if the feedforward term does exist for the operating set point, controlling the system component using controller output that corresponds to the feedforward term associated with the desired set point to move the system toward the desired set point; and
when a change to the system is detected that is associated with possible changes to the feedforward terms, generating one or more new feedforward terms for the feedforward table.
2. The method of claim 1 , wherein the change to the system that is associated with a possible change to the feedforward terms includes a change in temperature.
3. The method of claim 1 , wherein generating new feedforward terms when a change to the system is detected includes recording a new feedforward term if a measure of steady state error for the system is within the second acceptable tolerance when the system is subsequently within a first acceptable tolerance of the desired set point.
4. The method of claim 1 , wherein determining the measure of steady state error for the system comprises calculating a standard deviation and a mean of multiple samples of controller output during the time the system is within the first acceptable tolerance of the desired set point, wherein the determined measure of steady state error for the system is the standard deviation divided by the mean.
5. The method of claim 1 , wherein the first acceptable tolerance is in a range of 0.1 to 0.4.
6. The method of claim 1 , wherein the desired set point is a reservoir pressure and wherein the controller output and feedforward terms comprise valve positions of a valve coupled to a reservoir.
7. The method of claim 1 , wherein the set point operating range is a range of reservoir pressures.
8. The method of claim 1 , wherein the system is a surgical system and wherein the desired set point is received through a touchscreen or footswitch of a surgical console.
9. The method of claim 1 , wherein the operating range is subdivided according to a resolution provided by a user of the system.
10. The method of claim 1 , wherein the feedforward table is not populated prior to operating the system component and wherein the feedforward terms are determined and used to populate the feedforward table during subsequent system component operation.
11. The method of claim 1 , wherein the feedforward table is populated prior to operating the system component with calculated or default feedforward terms and wherein updated feedforward terms are determined and used to overwrite existing feedforward terms in the table during subsequent system component operation.
12. A method of using a feedforward table to control a surgical system component of a surgical system, comprising:
receiving a desired set point;
determining if a feedforward term exists in the feedforward table for the desired set point, wherein the feedforward table comprises a plurality of set points;
if the feedforward term does not exist for the desired set point,
incrementing the system component as needed using controller output to move the system to within a first acceptable tolerance of the desired set point;
determining if a measure of steady state error for the system is within a second acceptable tolerance;
if the measure of steady state error for the system is within the second acceptable tolerance, recording a feedforward term, corresponding to a current controller output, in the feedforward table for the desired set point;
if the measure of steady state error for the system is not within the second acceptable tolerance, not recording the a feedforward term in the feedforward table for the desired set point;
if the feedforward term does exist for the desired set point, controlling the system component using controller output that corresponds to the feedforward term associated with the desired set point to move the system toward the desired set point;
when a change to the system is detected that is associated with possible changes to the feedforward terms, generating one or more new feedforward terms for the feedforward table.
13. The method of claim 12 , wherein the change to the system that is associated with a possible change to the feedforward terms includes a change in temperature.
14. The method of claim 12 , wherein generating new feedforward terms when a change to the system is detected includes recording a new feedforward term if a measure of steady state error for the system is within the second acceptable tolerance when the system is subsequently within a first acceptable tolerance of the desired set point.
15. The method of claim 12 , wherein determining the measure of steady state error for the system comprises calculating a standard deviation and a mean of multiple samples of controller output during the time the system is within the first acceptable tolerance of the desired set point, wherein the determined measure of steady state error for the system is the standard deviation divided by the mean.
16. The method of claim 12 , wherein the desired set point is a reservoir pressure and wherein the controller output and feedforward terms comprise valve positions of a valve coupled to a reservoir.
17. The method of claim 12 , wherein the system is a surgical system and wherein the desired set point is received through a touchscreen or footswitch of a surgical console.
18. The method of claim 12 , wherein the feedforward table is not populated prior to operating the system component and wherein the feedforward terms are determined and used to populate the feedforward table during subsequent system component operation.
19. The method of claim 12 , wherein the feedforward table is populated prior to operating the system component with calculated or default feedforward terms and wherein updated feedforward terms are determined and used to overwrite existing feedforward terms in the table during subsequent system component operation.