Pre-compensation of servo tracking errors through data-based reference trajectory modification

This paper presents a new dynamic error compensation approach with novel data-based closed-loop tuning scheme to enhance tracking accuracy of machine tool feed-drives. Both servo dynamics and friction disturbance induced positioning errors are pre-compensated by modifying the reference trajectory. Velocity and acceleration profiles of reference trajectory are modulated to achieve perfect tracking. Reference position profile is modified based on the pre-sliding friction regime to eliminate quadrant glitches. Optimal error compensation is achieved by a digital trajectory pre-filter whose parameters are tuned automatically by making on-the-fly iterative adjustments. Effectiveness of proposed compensation approach is validated experimentally in multi-axis feed-drive systems.