The mechanical transmission employed inside the computer numerical control (CNC) machine electromechanical system usually has an inherent backlash. As a position-controlled system is commonly used for the electromechanical system, the backlash limits the performance of the motion control system due to its nonlinearity and discontinuity. This paper proposes an effective method to adaptively detect and compensate for the backlash effect in real time, in which the end-effect load position of the CNC machine is estimated and controlled by the position-controlled servo system, in order to eliminate the influence of backlash on the contour path performance. The simulation results obtained from the model of a realistic CNC machine show the successful elimination of the error between the reference and the end-effector position and a significant improvement in the control system performance.

The present study explores the physical-mechanical and tribological properties of hybrid wood fiber and rockwool-reinforced asbestos-free resin-based friction materials. We developed asbestos-free brake friction composites with different contents of hybrid fiber (wood and rockwool fiber) at a total fixed fiber loading of 30%. Then, the developed composites were investigated on the physical, mechanical, and tribological properties according to the industry standards. The results show that, with the increase in wood fiber, the density, hardness, and strength decrease, and the water absorption increases. Meanwhile, rockwool fiber can improve the coefficient of friction and enhance friction stability, while wood fiber has a significant impact on wear resistance. The sample with 5% wood fiber and 25% rockwool fiber presented the best performance in terms of the coefficients of friction, wear rate, and fade–recovery behavior. It provides a new idea for the research of asbestos-free composites.