双速度环在谐波传动中的应用分析
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摘要
为降低谐波传动中柔性齿轮给系统造成的低刚度和非线性死区的问题,本文提出了一种基于双速度环的位置控制方法,以电机端的速度环作为内环,以负载端的速度环作为外环。从理论上分析了双速度环优于单速度环时,电机端速度环满足的条件。此外对单双速度环对系统的影响进行了仿真分析,结果表明双速度环对抑制系统中的非线性死区有很好的效果。最后实验结果也验证了双速度环对于克服系统中的非线性扰动,提高系统的鲁棒性和精度有着很好的作用。
For reducing the effect of flexibility, backlash and friction, which are brought by the harmonic gear, a kind of multiple loops' control method is proposed based on double speed loops. Double speed loops consist of speed loop in motor side and speed loop in load side. The speed loop in motor side is the inner loop and the speed loop in load side is the outer loop. The paper separately analyses the control performance of single speed loop and double speed loops in theory. Finally, the experiment results are used to validate the effectiveness of the control method based on double speed loops for inhibiting the nonlinear deadzone in the harmonic drive system.
For reducing the effect of flexibility, backlash and friction, which are brought by the harmonic gear, a kind of multiple loops' control method is proposed based on double speed loops. Double speed loops consist of speed loop in motor side and speed loop in load side. The speed loop in motor side is the inner loop and the speed loop in load side is the outer loop. The paper separately analyses the control performance of single speed loop and double speed loops in theory. Finally, the experiment results are used to validate the effectiveness of the control method based on double speed loops for inhibiting the nonlinear deadzone in the harmonic drive system.
引文
[1]蔚永强,郭宏,谢占明.直驱式伺服系统的神经网络自适应滑模控制[J].电工技术学报,2009,24(3):74-85.YU Yongqiang,GUO Hong,XIE Zhanming.Neural network adaptive sliding mode control for direct-drive servo system[J].Transactions of China Electrotechnical Society,2009,24(3):74-85.
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[6]Tjahjowidodo T,Al-Bender F,Van Brussel H.Theoretical modeling and experimental identification of nonlinear torsional behavior in harmonic drives[J].Mechatronics(S0957-4158),2013,23(5):497-504.
[7]LU Yusheng,LIN Shuanmin.Disturbance-observer based adaptive feedforward cancellation of torque ripples in harmonic drive system[J].Electrical Engineering(S0948-7921),2007,90(2):95-106.
[8]ALIREZA Tadayoni,XIE Wenfang,BRANDON W Gordon.Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network[J].International Journal of Control,Automation,and Systems(S2005-4092),2011,9(1):50-59.
[9]Mokoto Iwasaki,Masafumi Yamamoto,Hiromu Hirai,et al.Modeling and compensation for angular transmission error of harmonic drive gearing in high precision positioning[C]//IEEE International Conference on Advanced Intelligent Mechatronics,Singapore,July 14-17,2009,10:662-667.
[10]Vassileva D,Kiyosawa Y,Suzuki M.Sensorless torque control a robot with harmonic drive reducers[J].Mechanics Based Design of Structures and Machines(S1539-7742),2011,39(39):253-267.
[2]吴忠,刘元度.谐波传动的工程应用研究[J].航空精密制造技术,2005,41(4):23-25.WU Zhong,LIU Yuandu.The practical application of harmonic drive[J].Aviation Precision Manufacturing Technology,2005,41(4):23-25.
[3]王国民,姚正秋,马礼胜,等.大型天文望远镜高精度摩擦传动的研究[J].光学精密工程,2004,12(6):592-597.WANG Guomin,YAO Zhengqiu,MA Lisheng,et al.High precision friction drive of large telescope[J].Optics and Precision Engineering,2004,12(6):592-597.
[4]王虎,陈娟,尹力鹏,等.光电跟踪系统中的伺服控制技术[J].长春工业大学学报,2009,30(5):533-539.WANG Hu,CHENG Juan,YIN Lipeng,et al.Servo control technologies in electro-optical tracking system[J].Journal of Changchun University of Technology,2009,30(5):533-539.
[5]Prasanna S Gandhi,Fathi H Ghorbel.Closed-loop compensation of kinematic error in harmonic drives for precision control applications[J].IEEE Transactions on Control Systems Technology(S1063-6536),2002,10(6):759-768.
[6]Tjahjowidodo T,Al-Bender F,Van Brussel H.Theoretical modeling and experimental identification of nonlinear torsional behavior in harmonic drives[J].Mechatronics(S0957-4158),2013,23(5):497-504.
[7]LU Yusheng,LIN Shuanmin.Disturbance-observer based adaptive feedforward cancellation of torque ripples in harmonic drive system[J].Electrical Engineering(S0948-7921),2007,90(2):95-106.
[8]ALIREZA Tadayoni,XIE Wenfang,BRANDON W Gordon.Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network[J].International Journal of Control,Automation,and Systems(S2005-4092),2011,9(1):50-59.
[9]Mokoto Iwasaki,Masafumi Yamamoto,Hiromu Hirai,et al.Modeling and compensation for angular transmission error of harmonic drive gearing in high precision positioning[C]//IEEE International Conference on Advanced Intelligent Mechatronics,Singapore,July 14-17,2009,10:662-667.
[10]Vassileva D,Kiyosawa Y,Suzuki M.Sensorless torque control a robot with harmonic drive reducers[J].Mechanics Based Design of Structures and Machines(S1539-7742),2011,39(39):253-267.