Estimation of disturbance torque for ballscrew drive system with using high resolution encoder

Abstract

Ballscrew drive system has high mechanical efficiency and is able to get high gear ratio easily. But it also has non liner friction elements like rolling friction and viscous friction, so it makes ballscrew control accuracy worse. For that reason, it is proposed that inserting disturbance observer into control system and compensating disturbance torque. Generally, rotary encoder is used for position sensor in ballscrew control, but its resolution affects accuracy of drive control and disturbance observer. In this paper, we propose a speed control system using AC servo motor ball screw drive system, compare driving characteristics in low speed range when using low resolution encoder and high resolution encoder as position sensor. Also we examine effects for driving characteristics by using and compensating disturbance observer. These verifications were carried out by simulation and actual machine.