Adaptive speed control of linear servo system with friction compensation

The static and dynamic performance of speed loop is usually greatly influenced by the nonlinear friction in linear servo system. To solve the problem, an adaptive compensation scheme for the purpose of reducing friction effects on linear speed control is present. Firstly, the mathematical model is analyzed in detail according to components of linear servo system, and the LuGre friction model is simplified. Secondly, to improve the model identification accuracy and ensure the feasibility of identification algorithm simultaneously, a high-effective and stable just-in-time learning (JITL) algorithm is used to estimate the friction model parameter. Finally, based on the identification results, an adaptive feed-forward component is applied into linear servo system to compensate the friction. Experimental results show that linear servo system using the proposed method has better speed control performance than using a traditional compensation method.