Design of a Disturbance Observer and Model-Based Friction Feedforward to Compensate Quadrant Glitches

  • Z. Jamaludin
  • H. Van Brussel
  • J. Swevers


Accurate motion control requires measures to compensate the effects of friction that contribute to positioning and contour tracking errors. The complex nonlinear behaviour of friction at motion reversal causes a unique tracking error known as quadrant glitch. Friction can only be partly compensated using linear feedback control strategies such as PID, cascade P/PI or state-feedback control. Model and non-model based friction compensation strategies are necessary to acquire sufficiently high path and tracking accuracy. This paper analyses and validates experimentally three different friction compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: (i) friction model based feedforward, (ii) an inverse-model-based disturbance observer, and (iii) the combination of friction model feedforward and disturbance observer. Two different friction models are considered: a simple static friction model and the recently developed Generalized Maxwell-slip (GMS) friction model. The combination of feedforward based on the GMS friction model and the inverse model-based disturbance observer yields the smallest radial tracking error and glitches.


Friction Force Friction Model Disturbance Observer Stribeck Curve Friction Compensation 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Z. Jamaludin
    • 1
  • H. Van Brussel
    • 1
  • J. Swevers
    • 1
  1. 1.Department of Mechanical Engineering, Div. P.M.A.Katholieke Universiteit LeuvenHeverleeBelgium

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