Abstract
AbstractBall‐screw‐driven stages are widely used as feed systems of industrial equipment such as machine tools. Rolling friction in the stages causes a large tracking error called a quadrant glitch at a velocity reversal. Although the model‐based friction compensation reduces the quadrant glitch, it often leads to a tracking error in the direction opposite to the quadrant glitch. This study aims to present a control system that reduces both the quadrant glitch and opposite‐direction error. This is achieved by combining the model‐based friction compensation and initial value compensation. The effectiveness of the proposed control system is verified by simulations and experiments with two‐axis experimental setup.
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