Abstract
This paper proposes a friction compensation method for achieving higher system stability and responsiveness by actively utilizing the friction force of feed drive systems. The proposed compensator provides higher damping characteristics by replacing the real friction characteristics of the feed drive mechanism with virtual friction characteristics. To evaluate the proposed compensation method, the step responses of a linear motor servo system using the proposed compensator were measured and simulated. The results confirmed that the proposed compensator corrects for the decrease in stability of the control system and enables higher servo gains, leading to high responsiveness.
