Journal of Mechanical Science and Technology

, Volume 33, Issue 11, pp 5353–5360 | Cite as

Friction compensation control of a feed drive system operated in a vacuum

  • Wontaek Song
  • Jaeyoon Shim
  • Namhyun Kim
  • Geun Byeong Chae
  • Wonkyun LeeEmail author


In a feed drive system, friction is a typical nonlinear component that increases the complexity of the dynamic behavior. A feed drive system equipped with rolling contact components, such as ball screws and linear motion guides, undergoes complicated friction behavior. In this regard, various techniques have been proposed to decrease the effect of friction and thus achieve the precise control of the feed drive system. Friction compensation control is a widely used technique that cancels out the friction force by applying an additional driving force that corresponds to the friction estimated by a friction model. A variety of friction models have been proposed to estimate the friction force accurately for friction compensation control. However, conventional friction models have focused on estimating the friction force of a feed drive system operating in atmospheric pressure although air pressure affects the friction characteristics. The accuracy of the conventional friction models might decrease for a feed drive system operated in a vacuum. This paper presents a friction compensation controller on the basis of a new friction model that considers the effect of the vacuum pressure on friction. A vacuum chamber that can control the vacuum pressure and a vacuum-compatible feed drive system are constructed to measure the friction force at various vacuum pressures. The relationship between the friction characteristics and the vacuum pressure is investigated on the basis of the experimental results and applied to the friction model. A friction compensation controller based on the friction model and Kalman filter is designed and evaluated experimentally.


Friction compensation controller Friction in vacuum Kalman filter Machine tool Stribeck curve 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.



This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF-2019R1F1A1050719).


  1. [1]
    Y. Altintas, A. Verl, C. Brecher, L. Uriarte and G. Pritschow, Machine tool feed drives, CIRP Ann-Manuf. Technol., 60 (2) (2011) 779–796.CrossRefGoogle Scholar
  2. [2]
    W. Lee, C.-Y. Lee, Y. H. Jeong and B.-K. Min, Distributed component friction model for precision control of a feed drive system, IEEE/ASME Trans. Mechatronics, 20 (4) (2015) 1966–1974.CrossRefGoogle Scholar
  3. [3]
    B. Armstrong-Helouvry, P. Dupont and C. C. D. Wit, A survey of models, analysis tools and compensation methods for the control of machines with friction, Automatica, 30 (7) (1994) 1083–1138.CrossRefGoogle Scholar
  4. [4]
    C. Aguilar-Avelar, R. Rodríguez-Calderón, S. Puga-Guzmán and J. Moreno-Valenzuela, Effects of nonlinear friction compensation in the inertia wheel pendulum, Journal of Mechanical Science and Technology, 31 (9) (2017) 4425–4433.CrossRefGoogle Scholar
  5. [5]
    M. Tomizuka, Zero phase error tracking algorithm for digital control, J. Dyn. Syst. Meas. Control-Trans. ASME, 109 (1) (1987) 65–68.CrossRefGoogle Scholar
  6. [6]
    C.J. Kempf and S. Kobayashi, Disturbance observer and feedforward design for a high-speed direct-drive positioning table, IEEE Trans. Control Syst. Technol., 7 (5) (1999) 513–526.CrossRefGoogle Scholar
  7. [7]
    C.-J. Lin, H.-T. Yau and Y.-C. Tian, Identification and compensation of nonlinear friction characteristics and precision control for a linear motor stage, IEEE/ASME Trans. Mechatronics, 18 (4) (2013) 1385–1396.CrossRefGoogle Scholar
  8. [8]
    M. Iwasaki, T. Shibata and N. Matsui, Disturbance-observer-based nonlinear friction compensation in table drive system, IEEE/ASME Trans. Mechatronics, 4 (1) (1999) 3–8.CrossRefGoogle Scholar
  9. [9]
    J.-S. Chen, K.-C. Chen, Z.-C. Lai and Y.-K. Huang, Friction characterization and compensation of a linear-motor rolling-guide stage, Int. J. Mach. Tools Manuf., 43 (2003) 905–915.CrossRefGoogle Scholar
  10. [10]
    T. H. Lee, K. K. Tan and S. Huang, Adaptive friction compensation with a dynamical friction model, IEEE/ ASME Trans. Mechatronics, 16 (1) (2011) 133–140.CrossRefGoogle Scholar
  11. [11]
    J. Yao, W. Deng and W. Sun, Precision motion control for electro-hydraulic servo systems with noise alleviation: A desired compensation adaptive approach, IEEE/ASME Trans. Mechatronics, 22 (4) (2017) 1859–1868.CrossRefGoogle Scholar
  12. [12]
    C. C. D. Wit, H. Olsson, K. J. Astrom and P. Lischinsky, A new model for control of systems with friction, IEEE Trans. Autom. Control, 40 (3) (1995) 419–425.MathSciNetCrossRefGoogle Scholar
  13. [13]
    F. Al-Bender, V. Lampaert and J. Swevers, The generalized Maxwell-slip model: A novel model for friction simulation and compensation, IEEE Trans. Autom. Control, 50 (11) (2005) 1883–1887.MathSciNetCrossRefGoogle Scholar
  14. [14]
    W. Lee, C.-Y. Lee, Y. H. Jeong and B.-K. Min, Friction compensation controller for load varying machine tool feed drive, Int. J. Mach. Tools Manuf., 96 (2015) 47–54.CrossRefGoogle Scholar
  15. [15]
    E. A. Deulin, V. P. Mikhailov, Y. V. Panfilov and R. A. Nevshupa, Mechanics and Physics of Precise Vacuum Mechanisms, Springer (2010) 45–79.CrossRefGoogle Scholar
  16. [16]
    J. Jellison, R. Predmore and C. L. Staugaitis, Sliding Friction of Copper Alloys in Vacuum, NASA Goddard Space Flight Center (1968).Google Scholar
  17. [17]
    D. H. Buckley, Friction, Wear and Lubrication in Vacuum, NASA Lewis Research Center (1971).Google Scholar
  18. [18]
    W. Lee, C.-Y. Lee and B.-K. Min, Simulation-based energy usage profiling of machine tool at the component level, Int. J. Precis. Eng. Manuf.- Green Tech., 1 (3) (2014) 183–189.CrossRefGoogle Scholar

Copyright information

© KSME & Springer 2019

Authors and Affiliations

  • Wontaek Song
    • 1
  • Jaeyoon Shim
    • 2
  • Namhyun Kim
    • 3
  • Geun Byeong Chae
    • 3
  • Wonkyun Lee
    • 3
    Email author
  1. 1.School of Mechanical EngineeringYonsei UniversitySeoulKorea
  2. 2.School of Mechanical EngineeringGwangju Institute of Science and TechnologyGwangjuKorea
  3. 3.School of Mechanical EngineeringChungnam National UniversityDaejeonKorea

Personalised recommendations