Negative quadrant glitch suppression control of ball-screw-driven stage for machine tool by friction compensation and initial value compensation

Abstract

Ball-screw-driven stages are widely used as feed systems of industrial equipment such as machine tools. Rolling friction in the stages causes a large tracking error called a quadrant glitch at a velocity reversal. Although the model-based friction compensation reduces the quadrant glitch, it often leads to a tracking error in the direction opposite to the quadrant glitch. This study aims to present a control system that reduces both the quadrant glitch and opposite-direction error. This is achieved by combining the model-based friction compensation and initial value compensation. The effectiveness of the proposed control system is verified by simulations and experiments with two-axis experimental setup.