Abstract
Abstract. Hysteresis behavior widely exists in the transmission process of harmonic
drives. Eliminating the hysteresis effect is highly desired in the
high-precision mechanical transmission, which results in challenges in the
control design. This paper aims to improve the tracking accuracy of the
motor-harmonic drive serial system. Firstly, a modified Bouc-Wen model based
on uniform smooth approximating function is applied to describe the
hysteresis behavior of the harmonic drive. By using coordinate
transformation and accurate state feedback linearization, we then obtain the
mathematical model of the serial system of the motor-harmonic drive.
Finally, the reference trajectory is tracked by a compound optimal
controller that is based on a linear quadratic regulator. Simulation results
show that compared with the disturbance observer-based control (DOBC) using
a linear observer, the new compound optimal controller in this paper
presents a smoother control signal with the elimination of large amount of
high-frequency oscillations. Furthermore, the relative error in the steady
state tracking tends to approach to zero and no cyclic fluctuations appears.
With the employing of optimal control, the output of the harmonic drive can
trace more complex trajectory.
Funder
National Natural Science Foundation of China
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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