Dual Speed Control Scheme of Servo Drive System for a Nonlinear Friction Compensation

摘要

Servo motor drive systems with ball-screw and timing-belt are widely used in a numerical control, robot, factory automation and industrial applications. Most of the servo motor and drive system transfer the motor torque to loads via mechanical connections. However, the nonlinear friction of coupled mechanical devices reduces the performance of a servo drive. Especially, in a low speed range, tracking errors are serious due to the break-away friction and Stribeck effects.