Affiliation:
1. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, People’s Republic of China
Abstract
In the harmonic gear servo system, friction is associated with not only the velocity of the input shaft but also its angle position. Traditional friction compensation based on the velocity cannot guarantee the high motion accuracy. To address this problem, this article proposed a new friction model of harmonic gear servo system, which is related to both its velocity and position. The new model includes two parts: in the presliding region, the static friction is determined by the maximum elastic deformation recovery angle of the input shaft, and in the sliding region, the friction not only has Stribeck effect from velocity but also has harmonic series relative to the input shaft’s position. In this article, the parameters of friction model were obtained by preliminary experiments. A control diagram based on this model was established for friction compensation and the proposed control algorithm showed its superiority in the experiments.
Subject
Mechanical Engineering,Control and Systems Engineering
Reference25 articles.
1. Timothy DT. Understanding and modeling the behavior of a harmonic drive gear transmission. PhD Thesis, Artificial Intelligence Laboratory, MIT, Cambridge, MA, 1992.
2. Hamid DT. Robust torque control of harmonic drive systems. PhD Thesis, McGill University, Montreal, QC, Canada, 1997.
3. Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms
4. A survey of models, analysis tools and compensation methods for the control of machines with friction
Cited by
7 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献