Machine tool, machine tool control system, and machine tool control method

A machine tool control system comprising:

• a feedback controller that feedback-controls, in accordance with a state variable, a feed driver that moves a moving body in a machine tool;
• a friction compensator that, to compensate for rolling friction that occurs in the feed driver, adds, in advance, one of a friction compensation value obtained from measurement data of rolling friction and a friction compensation value calculated using a rolling friction model to a command value to be input to the feed driver;
• and
• a reverse response reducer that reduces, using the state variable of said feedback controller, a reverse response that occurs due to addition of the friction compensation value.

A machine tool control method comprising:

• feedback-controlling, in accordance with a state variable, a feed driver that moves a moving body in a machine tool;
• to compensate for rolling friction that occurs in the feed driver, adding, in advance, one of a friction compensation value obtained from measurement data of rolling friction and a friction compensation value calculated using a rolling friction model to a command value to be input to the feed driver;
• and
• reducing, using the state variable in the feedback-controlling, a reverse response that occurs due to addition of the friction compensation value.