Harmonic positioning errors can negatively affect the positioning accuracy of the ball screw drive system. This paper addresses the problem of harmonic positioning error suppression in ball-screw drives using Adaptive Feedforward Cancellation (AFC). AFC method is integrated with the dual (i.e., rotational and translational) feedback structure used in ball-screw drives. The ability of AFC to quench harmonic positioning errors originating from multiple input sources is analyzed, considering the effects of the commanded trajectory, motor torque ripples, rotary encoder measurement errors, and lead errors coming from the ball-screw mechanism. A new approach for parameter tuning of the AFC resonators is proposed which considers both the performance deterioration issue at frequencies outside the target harmonics, and also the robust stability requirement in the sense of limiting the peak loop sensitivity value. Effectiveness of the proposed AFC scheme for ball-screw drives is validated in experiments, demonstrating successful rejection of time-periodic machining force disturbances, as well as mitigation of displacement-periodic lead error and misalignment type errors. In the case of machining force rejection, 50–78% improvement is achieved in the standard deviation of the translational positioning error. In the case of position dependent disturbances, the improvement is typically in the 10–20% range and is most effective during constant velocity motion.

谐波定位误差会负面影响滚珠丝杠驱动系统的定位精度。本文解决了使用自适应前馈消除（AFC）抑制滚珠丝杠驱动器中谐波定位误差的问题。AFC方法与滚珠丝杠驱动器中使用的双重（即旋转和平移）反馈结构集成在一起。考虑到指令轨迹，电机转矩脉动，旋转编码器测量误差和滚珠丝杠机构产生的导程误差的影响，分析了AFC消除源自多个输入源的谐波定位误差的能力。提出了一种用于AFC谐振器参数调整的新方法，该方法同时考虑了目标谐波以外频率处的性能下降问题，以及在限制峰值环路灵敏度值方面的鲁棒稳定性要求。在实验中验证了所提出的AFC方案对滚珠丝杠驱动器的有效性，证明了对时间周期加工力干扰的成功抑制以及位移周期导程误差和未对准类型误差的缓解。在消除机械加工力的情况下，平移定位误差的标准偏差可提高50-78％。对于位置相关的扰动，这种改善通常在10％至20％的范围内，并且在恒速运动期间最有效。展示了成功消除了时间周期加工力干扰，以及减轻了位移周期导程误差和失准类型误差。在消除机械加工力的情况下，平移定位误差的标准偏差可提高50-78％。对于位置相关的扰动，这种改善通常在10％至20％的范围内，并且在恒速运动中最有效。展示了成功消除了时间周期加工力干扰，以及减轻了位移周期导程误差和失准类型误差。在消除机械加工力的情况下，平移定位误差的标准偏差可提高50-78％。对于位置相关的扰动，这种改善通常在10％至20％的范围内，并且在恒速运动中最有效。