Design and Implementation of Digital Servo Controller for High Speed Machine Tools

This paper deals with the design of a digital servo controller for a machining tool which exhibits mechanical nonlinearities. Nonlinear friction force as well as its nonlinear compensation are considered. The combination of this compensator and the linear feedforward tracking controller(Zero Phase Error Tracking Controller) achieves high precision tracking and avoids serious problems such as quadrant glitches. Experimental and simulated results are shown and the superiority of the proposed control scheme is demonstrated.