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题名:
Double speed loops control for high-precision position tracking of position-controlled actuators involving a harmonic drive reducer
作者: Cai, Huaxiang1,2,3; Huang, Yongmei1,2; Tang, Tao1,2; Wang, Qiang1,2; Du, Junfeng1,2; Zhang, Tong1,2
刊名: ADVANCES IN MECHANICAL ENGINEERING
出版日期: 2016-03-01
卷号: 8, 期号:3
关键词: Harmonic drive ; dead zone ; nonlinear friction ; double speed loops ; extended state observer ; turning error
DOI: 10.1177/1687814016638785
文章类型: Article
英文摘要: In this article, a kind of position control method based on double speed closed loops is proposed to reduce turning error and nonlinear dead zone, which are caused by the flexibility and nonlinear friction in harmonic drive system. The speed loop of motor side is the inner loop and the speed loop of load side is the outer loop. Besides, the robustness performances of double speed loops and single speed loop are analyzed in theory, respectively. And it is stated that the performance of double speed loops is better than the performance of single speed loop. Furthermore, to further reduce the turning error and enhance the precision of system, the article puts forward applying double proportional-integral controllers with double extended state observers in the two speed loops. Extended state observers can transform the nonlinear models into an approximate linear model and eliminate the nonlinear frictions in the system. Finally, a few comparative experimental results show that the proposed control method has better performance for restraining the nonlinear features and enhancing the precision of the harmonic drive system.
WOS标题词: Science & Technology ; Physical Sciences ; Technology
类目[WOS]: Thermodynamics ; Engineering, Mechanical
研究领域[WOS]: Thermodynamics ; Engineering
关键词[WOS]: ACTIVE SUSPENSION SYSTEMS ; EXTENDED-STATE-OBSERVER ; ROBUST-CONTROL ; TORQUE CONTROL ; COMPENSATION ; MOTOR ; ROBOT
收录类别: SCI
语种: 英语
WOS记录号: WOS:000373606600028
ISSN号: 1687-8132
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.ioe.ac.cn/handle/181551/3898
Appears in Collections:光电技术研究所被WoS收录文章_期刊论文

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作者单位: 1.Chinese Acad Sci, Inst Opt & Elect, POB 350, Chengdu 610209, Peoples R China
2.Chinese Acad Sci, Key Lab Beam Control, Chengdu, Peoples R China
3.Chinese Acad Sci, Grad Sch, Beijing, Peoples R China

Recommended Citation:
Cai, Huaxiang,Huang, Yongmei,Tang, Tao,et al. Double speed loops control for high-precision position tracking of position-controlled actuators involving a harmonic drive reducer[J]. ADVANCES IN MECHANICAL ENGINEERING,2016,8(3).
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