Friction Compensation Strategy for Feed Servo Systems Based on Static Friction Model

Improving the precision of positioning and minimizing errors in position tracking constitute primary control objectives for feed servo systems. In the practical realm of machine tool feed servo systems, frictional errors occurring during motor reverse motion serve as a significant impediment to the efficacy of feed servo position control. The presence of nonfeed friction can result in conspicuous tracking errors during position reversal, consequently leading to a deterioration in the position control performance of feed servo systems. To address this challenge, this study initially integrates the specific operational conditions of feed servo systems and conducts a comprehensive analysis of the mechanisms underlying frictional errors. Following this, this paper proposes a friction identification and compensation technique based on static friction model. And a torque reference feedforward control scheme under the “Coulomb & Viscous” friction model is established and it effectively mitigates position tracking errors within the complete closed-loop control. Ultimately, through experimental validation, the study corroborates the efficacy of the proposed method in augmenting the precision of position control in feed servo systems.