Friction Compensation of an $XY$ Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer

Uncompensated friction forces compromise the positioning and tracking accuracy of motion systems. A unique tracking error known as quadrant glitch is the result of complex nonlinear friction behavior at motion reversal or near-zero velocity. Linear-feedback control strategies such as PID, cascade P/PI, or state-feedback control have to be extended with model- and nonmodel-based friction-compensation strategies to acquire sufficiently high path and tracking accuracy. This paper analyzes and validates experimentally three different friction-compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: (1) friction-model-based feedforward; (2) an inverse-model-based disturbance observer; and (3) the combination of both techniques. The friction models considered are as follows: a simple static-friction model and the recently developed generalized Maxwell-slip (GMS) model. GMS friction-model-based feedforward combined with disturbance observer almost completely eliminates the radial tracking error and quadrant glitches.