Abstract
Ball screw driving systems are widely used in the industrial machines such as machine tools. In such systems, a mass of load is an important factor not only for determining control gains, but also for designing an observer. However, the estimation of mass is often deteriorated due to the non-linearity of friction and disturbances.
In this study, a method to estimate a mass of load by using simple P-D control against friction and disturbances is proposed. Furthermore, the guideline for designing the P-D control gains with an unknown mass is shown. Finally, the effectiveness of the proposed method is shown experimentally.
