Real-time Compensation of Circular Interpolation Motion Error by Inverse Transfer Function Based on Friction Analysis

The real-time inverse transfer function method is realized by the real-time compensation of positioning as the second regression function. The stick motion is suppressed 50% of trajectory error of the conventional PID control without identifying the parameters previously. However, the suppression of stick motion was not enough because the friction force at quadrant motion is not considered directly. In this report, we have developed a new experimental system based on the friction force measurement and analysis. The friction correction is applied to a real-time inverse transfer functional method considering the dynamic behavior of the friction. In the experimental results obtained by our method, the peak values of the stick motion are decreased 65.3% on average. In the contoured profile of the workpiece by our method, the stick motions almost despair.