Method for predicting and compensating frictions of feed system, and computer readable storage

A method for predicting and compensating frictions of a feed system, the feed system including at least one mechanical component, a motor guiding the mechanical component to move, and a motor driver electrically connected with the motor for controlling the motor to rotate, and the method comprising following steps:

• a) continually obtaining current signals and angle-position signals of the motor by the motor driver while the motor rotates;
• b) estimating frictions of the motor related to each rotation position of the motor according to the current signals and the angle-position signals, for generating multiple records of friction data;
• c) performing a calculation, based on the multiple records of friction data and the angle-position signals respectively corresponding to each of the multiple records of friction data, for creating a friction model with respect to the motor while a commutation angle of a ballbar trace occurs at a commutated portion;
• d) importing a current record of each angle-position signal of the motor to the friction model for predicting a static friction of the feed system;
• e) calculating a compensation current based on the static friction generated by the mechanical component of the feed system;
• and
• f) controlling the motor driver to additionally apply the compensation current to the motor so that both a quadrant error of the motor and the commutation angle of the ballbar trace at the commutated portion are reduced.