Negative Quadrant Glitch Suppression of Ball-screw-driven Stage by Initial Value Compensation with Additional Input

Ball-screw-driven stages are often used as feed systems of machine tools. Precise control of the stage is desired; however, rolling friction degrades tracking accuracy and causes a large tracking error called a quadrant glitch. Although model-based feedforward friction compensation effectively suppresses the tracking error, the compensation often results in a negative quadrant glitch, which is the tracking error in the direction opposite to the quadrant glitch. This study aims to present a suppression method of the negative quadrant glitch. In this study, initial value compensation with additional input is exploited. The approach is evaluated through simulations and experiments.