CN102279605B - 考虑波动齿轮传动机构摩擦特性随温度改变的变化在执行机构中作适应摩擦补偿的方法 - Google Patents

考虑波动齿轮传动机构摩擦特性随温度改变的变化在执行机构中作适应摩擦补偿的方法 Download PDF

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Publication number
CN102279605B
CN102279605B CN201110093154.6A CN201110093154A CN102279605B CN 102279605 B CN102279605 B CN 102279605B CN 201110093154 A CN201110093154 A CN 201110093154A CN 102279605 B CN102279605 B CN 102279605B
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China
Prior art keywords
compensation
motor reel
motor shaft
static friction
stab
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Chinese (zh)
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CN102279605A (zh
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冲津良史
加藤雄贵
佐佐木浩三
岩崎诚
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Harmonic Drive Systems Inc
Nagoya Institute of Technology NUC
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Harmonic Drive Systems Inc
Nagoya Institute of Technology NUC
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)
CN201110093154.6A 2010-04-09 2011-04-08 考虑波动齿轮传动机构摩擦特性随温度改变的变化在执行机构中作适应摩擦补偿的方法 Active CN102279605B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010-090694 2010-04-09
JP2010090694A JP5574228B2 (ja) 2010-04-09 2010-04-09 波動歯車減速機の温度変化に伴う摩擦特性変動を考慮したアクチュエータの適応型摩擦補償法

Publications (2)

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CN102279605A CN102279605A (zh) 2011-12-14
CN102279605B true CN102279605B (zh) 2015-06-17

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US (1) US8442692B2 (https=)
JP (1) JP5574228B2 (https=)
CN (1) CN102279605B (https=)
DE (1) DE102011016559B4 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6185374B2 (ja) * 2013-11-22 2017-08-23 国立大学法人 東京大学 制御装置及び制御方法
US9236072B1 (en) 2015-06-11 2016-01-12 Seagate Technology Llc Servo control using a model of temperature-dependent friction
JP6466588B2 (ja) 2016-09-27 2019-02-06 株式会社ハーモニック・ドライブ・システムズ Ｈ∞制御による波動歯車装置を備えたアクチュエータの位置決め制御装置
WO2018061097A1 (ja) 2016-09-27 2018-04-05 株式会社ハーモニック・ドライブ・システムズ 状態オブザーバ併用型フルクローズド制御による波動歯車装置を備えたアクチュエータの位置決め制御装置
US11007101B2 (en) 2017-05-02 2021-05-18 Liko Research & Development Ab Adaptive compensation of wear in person lifting assemblies
FR3102866B1 (fr) * 2019-10-30 2021-10-01 Safran Electronics & Defense Procédé de commande d’un actionneur de système mécanique à frottements imbriqués
TWI731699B (zh) * 2020-05-27 2021-06-21 台達電子工業股份有限公司 進給系統的摩擦力預測與補償方法以及電腦可讀取儲存媒體

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Publication number Priority date Publication date Assignee Title
JPS63148314A (ja) 1986-12-12 1988-06-21 Fanuc Ltd セミクロ−ズドル−プサ−ボ制御系の制御装置
JP3595357B2 (ja) * 1994-06-30 2004-12-02 ファナック株式会社 ディジタルサーボによるタンデム制御方法
JP4038805B2 (ja) * 1997-11-11 2008-01-30 株式会社安川電機 電動機の摩擦補償方法
US6054833A (en) * 1999-05-10 2000-04-25 Iomega Corporation Disk drive having improved head-velocity control, and method therefor
JP3652202B2 (ja) * 2000-02-10 2005-05-25 多摩川精機株式会社 位置制御方法及び位置制御装置
JP2004171736A (ja) * 2002-10-28 2004-06-17 Matsushita Electric Ind Co Ltd ヘッド位置決め制御方法およびこれを用いたディスク装置
JP4453526B2 (ja) 2004-11-19 2010-04-21 株式会社安川電機 サーボ制御装置
US7440225B1 (en) * 2006-08-21 2008-10-21 Western Digital Technologies, Inc. Disk drive employing pivot friction compensation
JP4920612B2 (ja) * 2008-02-07 2012-04-18 株式会社ハーモニック・ドライブ・システムズ アクチュエータの角度伝達誤差補償方法
JP5453606B2 (ja) * 2010-04-09 2014-03-26 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置を備えたアクチュエータの位置決め制御方法

Also Published As

Publication number Publication date
US8442692B2 (en) 2013-05-14
JP5574228B2 (ja) 2014-08-20
CN102279605A (zh) 2011-12-14
DE102011016559A1 (de) 2011-12-15
US20110251722A1 (en) 2011-10-13
DE102011016559B4 (de) 2023-10-05
JP2011221810A (ja) 2011-11-04

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