High speed CNC system design. Part II: modeling and identification of feed drives

Accurate modeling and identification of the feed drives' dynamics is an important step in designing a high performance CNC. This paper presents a method for identifying the dynamic parameters, as well as the friction characteristics of machine tool drives. The inertia and viscous friction are estimated through an unbiased least squares scheme. The friction model is developed by observing the disturbance torque through a Kalman filter, while jogging the axes under closed loop control at various speeds. The overall axis model is used in designing a high speed feed drive control system, which has been presented in Part III of this paper. As verification of the identified friction model, contouring test results without and with friction compensation are also presented.