6781097313
88 A. Wawrzak, K. Karwowski, K. Karwowski, S. Mandra, M. Mizan
Assuming that the bandwidth of velocity loop is much bandwidth of position loop and
larger then the
n‘(s) ]
n(s)
the perfect tracking of position can be achieved if:
FFp(s) = s,
nFF(s)=s0*(s),
nFF(t) =
d9'(t)
dl
The friction feedforward control compensates the motion unit resistance. To reduce the machining errors caused by friction, the torque Tfr is added to the input of current controller (Fig. 2). Friction is modelled as a static map between velocity and friction torgue.
Fig. 2. Błock diagram of servo system structure with friction feedforward control
The CNC control system with both feedforward Controls is shown in Fig. 3. This is PC based CNC system based on servo-drives with PMSM motors [3]. It includes serial communication between PC Computer and several axis servo-drives.
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