Independent-on-model friction compensation study for high-precision servo system based on linear driver

In order to reduce the bad influence of friction on servo system to improve servo precision, a method with a linear driver and model reference difference was presented to reduce the nonlinear factors of motor, control system and PWM driver, and with this, the friction moment can be identified and compensated with anti-windup PI regulator and one order high-pass filter. Half physical simulation results validated the presented scheme, it could identify and compensate for the friction moment in servo system, and it could improve servo precision grade from 100th to 1000th, moreover, the presented scheme is independent of friction model, and it is easy to implement in application.