転がり摩擦モデルに基づく外乱オブザーバの始動時摩擦補償

抄録

This paper presents a rolling friction model-based initial friction compensation (IFC) by a disturbance observer for the fast and precise positioning of ball-screw-driven table systems. The effects of rolling friction in mechanisms should be suppressed in order to the achieve required control performance. In this study, therefore, a rolling friction model is adopted to compensate for the initial friction, so that delay-free friction estimation becomes possible. The proposed initial friction compensation method has been verified experimentally by using a prototype of industrial positioning devices.