A new method of identification and compensation of friction and machining forces in positioning systems

In electromechanical positioning systems (e.g. machine tools) with high accuracy requirements machining forces and the friction forces in the sliding bearings have a strong effect on the achievable position control quality. In this contribution, a new technique for online determination of these normally not measurable forces is presented, that gives exact information even at low speeds and standstill. A feedback compensation is described, that takes the identified force as an input and generates an additional input signal for the torque controller of the drive