FRICTION COMPENSATION DEVICE, FRICTION COMPENSATION METHOD AND SERVO CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To improve the estimating accuracy of friction.SOLUTION: A friction compensation device 20 is applied to a servo control device of a control object such as a machine tool 100. The friction compensation device 20 includes: a friction estimation part 21 for estimating the frictional force of the control object by using a friction model; and a parameter identification part 22 for identifying a parameter included in the friction model. The parameter identification part 22 includes: a data acquisition part for acquiring actual machine frictional characteristics indicating a relation between the position or speed of the control object and the frictional force; an identification part for identifying a predetermined parameter including a coulomb frictional force and the maximum static frictional force by using the actual machine frictional characteristics; and a parameter adjustment part for inputting the position or speed to the friction model using the identified parameter to calculate frictional characteristics for verification indicating the relation between the position or speed and the frictional force, and for adjusting the coulomb frictional force and the maximum static frictional force such that an error between the frictional characteristics for verification and the actual machine frictional characteristics falls within a predetermined allowable range.