Fast and precise positioning of ball screw-driven table system using minimum jerk control-based command shaping

This paper presents a minimum jerk transition method-based position command shaping without the specified frequency components. In the mechatronic fields, the 2-degrees-of-freedom position controller is well-known powerful tool to realize both the robust stability and the fast and precise positioning performance. On the other hand, the notch filter to suppress the lower frequency vibration deteriorates the position responses due to the essential phase delay of the notch filter. From the standpoint of view of the frequency component in the command waveform corresponding to the resonant frequency causes the resonant vibration, the command shaping should be considered as one of design freedoms. In this paper, the minimum jerk control-based position command shaping is applied instead of the notch filter to suppress the lower frequency vibrations such as a machine stand vibration. The application of the position command shaping provides better vibration suppression performance and reduces the calculation cost/time for the signal processing. The effectiveness of the proposed position command shaping has been verified by experiments using a table drive system.