Enhanced Motion Accuracy in Industrial Feed Drive Systems Using Simple Adaptive Control with a Jerk-Based Augmented Signal

In precision motion technology, motion accuracy is crucial to eliminate potential effects of screw compliance and improve the performance of feed drive systems. This study focuses on motion accuracy improvement for feed drive systems using simple adaptive control (SAC) technique. Almost strictly positive real (ASPR) is a key property to implement SAC to a system. The jerk-based augmented output signal is proposed for the ASPR property that includes velocity, acceleration, and jerk signals. The proposed approach allows the controller to achieve high tracking accuracy and faster adaptation by placing zeros of the controlled system at appropriate locations. To verify the feasibility of the proposed approach, control simulations are conducted and the results are compared with a typical parallel feedforward compensation method. Simulation results revealed that the proposed approach reduces tracking error significantly.Copyright (c) 2023 The Authors.