Projection-based Iterative Learning Control for Ball-screw-driven Stage with Consideration of Rolling Friction Compensation

抄録

Ball-screw-driven stages are feed systems that are widely used in industrial equipment such as numerically controlled machine tools. They require precise position control; however, rolling friction in the ball-screw mechanism deteriorates its control performance. Therefore, for precise control of ball-screw-driven stages, rolling friction must be compensated. Iterative learning control (ILC) is an effective method of friction compensation. However, industrial applications of ILC are limited because of its vulnerability to task variation, such as variation in position reference. In conventional studies, projection-based ILC employing basis functions has been proposed to deal with multiple tasks. In this paper, we propose basis functions for position control of ball-screw-driven stages based on their physical association with rolling friction. Simulations and experiments validate the effectiveness of our proposal.