Feedforward PID control of actuator not responding

Hello,
We have a linear actuator operating under load control. This meaning that the force produced by the actuator is proportional to a reference voltage sent to the actuators control drive from our computer running labview. The linear actuator has a very nonlinear response to the current sent from the motor drive, and to correct for this, we have had some luck with the PID controller. But we have not got it perfect yet.
So although we have scaled the inputs to the PID controller, a problem is that there is a phase delay. An image of this is attached. Green is the PID output, red is the set point, and white the reading from the load cell. The amplitudes and DC levels are not perfectly adjusted as it is as close as it can get, I think, until the phase is corrected. So this particular phase delay seems to be because there is a time difference between the time the sinusoidal set point is created and the time the load cell (feedback PV) is sampled.
So to correct for this, I thought a feed forward algorithm might work as I though this is what they are created for. But I haven't had any luck making the feedforward do anything. I have set the gain to 1 to 1.5, and lead and lag terms individually to many different values from 0.001 to 5. I have not seen the phase change yet. I would have expected some shift between the PV and SP. Any ideas on what is going on? Ill attach the labview program. Im just be implementing it wrong.
Ill attach the main program.
Attachments:
v65PID.vi ‏171 KB

nevermind.. doing simple mistake.
sorry..

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Feedforward PID control problems

hoping for a little help with the feed forward vi.
I have two inputs to a PID function, the Process variable (PV) being slightly behind (phase lag) the set point (SP).
This little bit of phase lag causes some unnecessary error in the PID algorithm.
I believe that feedforward VI is used to correct this type of problem.
The PV is from a load cell if it matters, recording around 1Htz cyclic load.
I can utilize the PID feedforward VI and plot its input vs output and see that it is indeed creating the necessary phase change (shown below in figure).
However, when i put the phase changed signal into the main PID vi, it somehow dosent seem to ever change/correct the phase offset of the PV signal that is coming in, its like its really not being used except that at very large vales (ie 0.2min) it just becomes unstable..
I have tried both lead and lag for both the PV and SP for every conceivable values between 0.000001 and 10min..
The feedforward VI does create amplitude changes between the inputs and outputs at small time levels (ie 0.001min) of which i am correcting for manually. Yet, The output signal without the feedforward vi seems to always better than with it.
Attachments:
v65PIDLL.vi ‏175 KB

hi george,
Thank you for checking in.
Im starting to get a handle on this after 3 or 4 days.
Basics are that the PID function is used for feedback.
It compares a setpoint (the desired state) to feedback state (process variable) in order to compute the error term which is then used for feedback.
Sometiems the set point feedback has a time delay in it and thus, creates a little extra error in the comparision and makes it hard to get the PID accuracy perfect.
So with a feedback load control system, there is a delay in the time the load cell is read to be compared to the desired state.
So what "lead lag vi" does iscreate a delay or lead in one of the signals so there can be a better computation of error.
Where it gets tricky is that lead lag vi also creates a offset and amplutide change in the set point on certain conditions such as larger phase shifts and smaller times delays,.
This in many cases makes a worse computation of error than the loss of phase shift by itself.
And in trying to correct for this offset and amplutide change, i was making mistakes which reduced the size of the error term.
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Feedforward PID control of actuator not responding

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