Abstract The nonlinear phenomenon of friction causes significant tracking errors when a platform reverses its moving direction. These tracking errors can cause quadrant protrusion (QP) for circular motion. To solve this problem, the conventional approach is to inject a compensation signal during the period of velocity reversal to overcome the friction effect. The waveform of this compensation signal has not yet been investigated. In this paper, a novel multi-square-pulse compensation (MSPC) method is proposed based on minimization of QP to determine the optimal MSPC waveform. To implement MSPC, the waveform is first computed using an identified servo-friction model. MSPC signals for the trajectories with different velocities and accelerations (Vel/Acc) are discussed, and the performance is compared with that of conventional quadrant error compensation (QEC). To validate the novel MSPC algorithm, experiments were conducted on an XY table. To further improve the experimental results by considering modeling errors, MSPC incorporating a tuning algorithm, called MSPC_TA, is proposed. The experimental results with different Vel/Acc show that QPs can be reduced by 95% by using the MSPC_TA approach.

中文翻译：

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一种通过注入最优波形信号减少象限突出的多方脉冲新补偿算法

摘要 平台反向运动时，摩擦非线性现象会导致明显的跟踪误差。这些跟踪误差会导致圆周运动的象限突出 (QP)。为了解决这个问题，传统的方法是在速度反转期间注入补偿信号来克服摩擦效应。尚未研究该补偿信号的波形。在本文中，提出了一种基于 QP 最小化的新型多方脉冲补偿 (MSPC) 方法，以确定最佳 MSPC 波形。为了实现 MSPC，首先使用确定的伺服摩擦模型计算波形。讨论了具有不同速度和加速度 (Vel/Acc) 的轨迹的 MSPC 信号，性能与传统的象限误差补偿（QEC）进行了比较。为了验证新的 MSPC 算法，在 XY 表上进行了实验。为了通过考虑建模误差来进一步改善实验结果，提出了包含调谐算法的 MSPC，称为 MSPC_TA。不同 Vel/Acc 的实验结果表明，使用 MSPC_TA 方法可以将 QP 降低 95%。