The Suppression of Quadrant Glitches with Ball-Screw-Driven Stage

摘要

Friction undermines the accuracy of position control in high-precision milling machines, where quadrant glitches occurs as one cutting axis reverses. In order to figure out the detailed cause of the quadrant glitches, this paper first obtained speed and position response through simulation of one-inertia servo system. Then we adopted friction feedforward method to compensate the effect of friction. The feedforward compensation is based on Coulomb friction model, Coulomb + viscous friction model and LuGre friction model. Both simulation and experimental result shows the validness the proposed method.