Method and systems for determining compensation parameters

A system, comprising:

• a servo drive control device;
• a control target;
• and
• an arithmetic unit, wherein the arithmetic unit is configured to provide a first test parameter set;
• perform an operating process with the servo drive control device;
• control the control target during the operating process by the servo drive control device, wherein at least one disturbance occurs during operation of the control target because of a friction effect occurring during operation at at least one reversal point of a servo-driven shaft of the control target;
• generate a first test compensation signal during the performance of the operating process with the servo drive control device based on the first test parameter set;
• receive a first measurement signal as feedback;
• determine a first error signal from the first measurement signal;
• determine the compensation parameters by a substitution model mapping error signals to compensation signals with the substitution model using the first error signal, the compensation parameters defining a compensation signal;
• generate, on occurrence of the at least one disturbance, the compensation signal based on the compensation parameters with the servo drive control device, in order to reduce a subsequent error that can be attributed to the disturbance;
• and
• provide the compensation signal to compensate for at least one disturbance.

A computer program product, stored on a non-transitory computer readable medium, comprising commands which cause a system comprising a servo drive control device, a control target, and an arithmetic unit to provide a first test parameter set;

• perform an operating process with the servo drive control device;
• control the control target during the operating process by the servo drive control device, wherein at least one disturbance occurs during operation of the control target because of a friction effect occurring during operation at at least one reversal point of a servo-driven shaft of the control target;
• generate a first test compensation signal during the performance of the operating process with the servo drive control device based on the first test parameter set;
• receive a first measurement signal as feedback;
• determine a first error signal from the first measurement signal;
• determine the compensation parameters by a substitution model mapping error signals to compensation signals with the substitution model using the first error signal, the compensation parameters defining a compensation signal;
• generate, on occurrence of the at least one disturbance, the compensation signal based on the compensation parameters with the servo drive control device, in order to reduce a subsequent error that can be attributed to the disturbance;
• and
• provide the compensation signal to compensate for at least one disturbance.