CN104062983B - A kind of position control system with high accuracy of harmonic drive and method - Google Patents
A kind of position control system with high accuracy of harmonic drive and method Download PDFInfo
- Publication number
- CN104062983B CN104062983B CN201410299719.XA CN201410299719A CN104062983B CN 104062983 B CN104062983 B CN 104062983B CN 201410299719 A CN201410299719 A CN 201410299719A CN 104062983 B CN104062983 B CN 104062983B
- Authority
- CN
- China
- Prior art keywords
- speed
- controller
- ring
- motor
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The present invention relates to a kind of position control system with high accuracy of harmonic drive and method, for the nonlinear dead-zone characteristic that harmonic drive flexibility is brought, present invention employs electric current ring set dual rate-loop, the control structure of position ring is covered again, the Dead Zone in system tracing control is inhibited, the precision of tracing control is improve.The control method mainly make use of the advantage of many closed loops of output feedback, the stationarity that output torque increased using electric current loop, the rotating speed that decoupling rotor is solved using the position that rotary encoder is measured constitutes the speed closed loop of motor side, isolate the nonlinear characteristics such as flexibility and the friction of harmonic speed reducer in advance, enhance the jamproof ability of motor.The outer speed ring and position ring being made up of tachometer and photoelectric encoder in conjunction with load end carries out precise control to load.Compared with the high accuracy control technology of existing harmonic drive, with high precision, control structure characteristic that is simple and being easy to debugging.
Description
Technical field
The invention belongs to the high-precision servo control field of harmonic drive, and in particular to harmonic wave in a kind of photoelectric follow-up
The high-precision control system of decelerator and method.Harmonic speed reducer belongs to compliant gear, therefore flat with harmonic speed reducer
The platform non-linear effects that inevitably driven gap and flexibility are brought, this are mainly shown as a kind of dead band phenomenon.This
Invention contributes to the characteristic of the dead-time voltage for suppressing gap and flexibility to bring, and improves the tracking accuracy of servosystem.
Technical background
Harmonic drive is a kind of drive technology that the fast development of twentieth century the 80s and 90s is got up, and which is with small volume, weight
Amount is light, and gear ratio is big, and the little advantage of drive gap is shown one's talent in the transmission of various decelerators.It is utilized between firm wheel and flexbile gear
Number of teeth difference is transmitting energy so that decelerator can also have larger gear ratio in the case of volume and weight is less, it is ensured that
Output torque.Its appearance is also brought beneficial to solving directly to be driven from torque motor in the motion platform such as airborne, vehicle-mounted
Volume and weight in terms of all excessive problem.But compare torque motor and directly drive, harmonic drive also has its own
Problem, such as small drive gap, Flexible Transmission, the problems such as rub big.Therefore, since coming out from harmonic drive, which has been overcome to pass
The defect of the aspects such as dynamic gap, flexible and friction is also all the emphasis of research always.In the last few years, some for harmonic drive
Nonlinear characteristic, has also emerged in large numbers the control algolithm and control structure of many.If Qiu Zhicheng et al. is in article《It is based on acceleration sensing
The research of the Harmonic Drive of device feedback control》(《China Mechanical Engineering》2000,11 phases of volume 11,1201-1205 page)
In, it is the vibration for suppressing the factors such as harmonic speed reducer flexibility, non-linear friction to bring to load, it is proposed that based on acceleration sensing
Device feedback control, the active damping that increased system carry out the nonlinear disturbance of suppression system, but the method needs to introduce acceleration
Count to measure the acceleration of load.Han Bangcheng of BJ University of Aeronautics ＆ Astronautics et al. is in article《The non-linear of harmonic speed reducer rubs
Wipe modeling and compensate》(《Optical precision engineering》2011,5 phases of volume 19,1095-1103 page) in propose by designing angular speed
Estimator calculates moment of friction, derives and sets up the nonlinear friction mode of harmonic speed reducer, be added into servosystem
As feedforward compensation.Wang Huifang et al. is in article《The improvement adaptive robust control of harmonic drive servosystem》(《Zhejiang University
Journal》2012, the phase of volume 46 10,1757-1763 page) in propose to suppress using a kind of improved adaptive robust control algorithm
Harmonic speed reducer object uncertain and non-linear.Xia Bin is in master thesis《Harmonic Drive nonlinear Control》
For the working condition that Harmonic Drive is different in (Xian Electronics Science and Technology University's master thesis in 2012), it is proposed that non-
Linear scale-derivative controller and the output feedback ontrol based on position measurement.
A kind of easy control algolithm is proposed from the present invention unlike above-mentioned control method, it is mainly used in photoelectric tracking
The position tracking precision of harmonic drive is improved in control system.
Content of the invention
The technical problem to be solved is：Overcome drive system gap, it is non-linear dead that flexible and friction brings
Zone properties.For deficiency of the conventional art in terms of the characteristic of suppression system nonlinear dead-zone, it is proposed that a kind of height of harmonic drive
Precision position control method, have the advantages that high precision, control structure is simple and is easy to debugging.
The present invention technical solution be：The position control system with high accuracy of harmonic drive is by electric current loop, motor side speed
Degree ring, load end speed ring and load situation ring group into many closed-loop control systems.By designing motor side speed ring, by harmonic wave
The nonlinear characteristic of decelerator is isolated in outside motor current ring and speed ring, increased the disturbance rejection of direct current brushless servo motor
Ability.In the external design (calculated) load speed ring and load situation ring of motor speed ring, the high precision position control of harmonic drive is realized
System, overcomes the nonlinear dead-zone characteristic of harmonic drive.
The position control system with high accuracy of harmonic drive, including：Current loop controller, motor side speed ring controller, negative
Carry end speed ring controller, load end ring controller；Current loop controller and motor side speed ring controller necessary hardware
Including：DC brushless motor, rotary encoder and motor driver；Load end speed ring controller necessary hardware includes：Direct current
Brushless electric machine, rotary encoder, motor driver, main control computer and tachometer；Load end ring controller necessary hardware
Including：DC brushless motor, rotary encoder, motor driver, main control computer, tachometer and photoelectric encoder；Wherein revolve
Turn the afterbody that encoder is mounted in DC brushless motor, turn inside DC brushless motor by being detected using rotary encoder characteristic
The position of son, and the corresponding speed of decoupling and electric current is solved, so that the design of motor side speed ring and electric current loop can be completed；For as far as possible
The loss of rigidity caused between connector is avoided, the output shaft of motor is connected directly on the wave producer of harmonic speed reducer, as
The high speed shaft of decelerator input, while for the frame that the casing of DC brushless motor harmonic decelerator is fixed on system
On, two fixed transition pieces, i.e. First Transition part and the second transition piece is needed, by the two transition pieces, brush DC electricity
Machine harmonic is slowed down and is fixed in frame, and the slow-speed shaft of harmonic speed reducer output is coupled with the connector that load is rotated with one
To in load.
Control process：As shown in Figure 1, 2, position control instruction and photoelectric coding are sent by main control computer in outermost loop
The position signalling that device is measured is sent to load end ring controller in the lump and carries out load end ring correction.After position ring correction
The rate signal that signal is fed back with tachometer again is sent to load end speed ring controller and makees load end velocity correction.Load end
The rate signal after the decoupling of signal and rotary encoder after speed ring correction, then give motor side speed ring controller and make motor
End velocity correction.Signal after correction again with motor driver inside the current signal that detects be sent to current loop controller and do electricity
The command signal that correction is completed finally is given DC brushless motor by stream correction, so as to transport through harmonic speed reducer band dynamic load
Dynamic.
Implement step as follows：
The first step, current loop controller in design harmonic drive system.
There is the size for detecting that the device of electric current can detect three-phase current on motor inside motor driver, using the device
The feedback signal that the electric current for detecting is driven as electric current loop, the driving current being input into DC brushless motor on motor driver
As reference signal, current loop controller C of designIS () is as follows：
Wherein KpiFor proportionality coefficient, KiiFor integral coefficient, s is Laplace operator；
Second step, using the tachometer design (calculated) load end speed ring controller of load end.
Load end speed loop is a closed loop on the basis of electric current loop closed loop, mainly using tachometer
The loading speed signal for measuring in real time is believed as the reference of system as feedback signal, the rate signal sent by main control computer
Number, design (calculated) load end speed ring controller CVlS () is as follows：
Wherein KplFor proportionality coefficient, KilFor integral coefficient, s is Laplace operator.Using the controller output signal as
The reference signal of the reference signal of motor driver, i.e. current loop controller, then completes the first step again, last note in real time
The speed data of the load that record tachometer is measured；
3rd step, using the high precision photoelectric encoder design load end ring closed loop control of detection load Angle Position
Device.
Load situation loop back path is a closed loop on the basis of speed loop, current loop, main utilization
The load position signal that high-precision photoelectric encoder is measured in real time is believed by the motion that main control computer sends as feedback signal
Number as system reference signal, design (calculated) load end position ring controller CPS () is as follows：
Wherein KpFor proportionality coefficient, KiFor integral coefficient, s is Laplace operator.Using the controller output signal as speed
The reference signal of degree ring, then completes the second step again.Last real time record photoelectric encoder measures the position data of load；
4th step, on the basis of based on the first step and second step, designs motor side speed ring controller.
The motor position signal for being measured using the rotary encoder of DC brushless motor end in real time, obtains motor after differential
The rate signal of rotor, and the feedback signal as motor side closed loop, and by load end speed in the second step
Reference signal of the signal that ring is sent as motor side speed ring, designs motor side speed ring controller CVmS () is as follows：
WhereinFor proportionality coefficient,For integral coefficient, s is Laplace operator.By the controller output signal
As the reference signal of speed ring, second step loop is then completed again.The load byte that last real time record photoelectric encoder is measured
Put data；
5th step, designs the load end ring controller on the basis of front four step.
On the basis of the 4th step, with reference to the 3rd step design (calculated) load end position ring controller CP2S () is as follows：
Wherein Kp2For load end ring proportionality coefficient, K under single speed adjusteri2Accumulate for load end ring under single speed adjuster
Divide coefficient.The position signalling that load end photoelectric encoder is measured used as feedback signal, make by the motor message that master signal sends
For reference signal, closed loop controller is designed, output signal is sent to load end speed ring controller, load end speed ring controller
Output signal is sent to motor side speed ring controller, finally passes to current loop controller, and so far, whole control system controller sets
Count complete.
The present invention is had the advantage that compared with prior art：
(1) control method of the present invention is simple, and every grade of loop uses the pid control algorithm of classics, and debugging is convenient.Existing
Basic control program in some high precision photoelectric tracking servo system control techniques is also based on motor side current closed-loop, bears
Carry the control thought of end speed and many closed loops in position.The control program one is in the case of system flexibility and friction are less, incites somebody to action
Which is reduced to linear system, recycles classical PID control algolithm as basic control method；Two is using some non-linear controls
Algorithm processed, including control methods such as neutral net, self adaptation and active disturbance rejections.But the flexiblesystem with harmonic speed reducer, which is non-
Linear Dead Zone is to hinder to improve one important characteristic of system accuracy, it is impossible to ignore, with nonlinear control algorithm undoubtedly
Increase the difficulty of debugging.The present invention, is inhibited using speed double circle structure well using classical pid control algorithm
The dead band that Flexible Transmission is introduced affects, and improves the tracking accuracy of system；
(2) drive system small volume, lightweight.The present invention is driven by the use of DC brushless motor harmonic decelerator as system
Dynamic device.Harmonic speed reducer as a kind of actuating device of big retarding device, solve output torque larger when, volume and weight is equal
Larger problem.
Description of the drawings
Fig. 1 System control structures figures；
Fig. 2 system scheme of installations；
Fig. 3 load end one velocity closed-loop speed pursuit path figures；
Fig. 4 motor side one velocity closed-loop speed pursuit path figures；
Fig. 5 motor side one velocity closed-loop speed tracking error figures；
Fig. 6 two-speed closed-loop speed pursuit path figures；
Fig. 7 two-speed closed-loop speed tracking error figures；
Fig. 8 one velocity closed loop loads position pursuit path figure；
Fig. 9 two-speed closed loop loads position pursuit path figure；
Figure 10 load situation pursuit path Error Graph.
In Fig. 2：108 tachometers, 109 photoelectric encoders, 103 frames, 104 transition pieces, 107 loads, 106 connectors, 105
Transition piece, 101 rotary encoders, 100 DC brushless motors, 102 harmonic speed reducers.
Specific embodiment
As shown in figure 1, the control object of system includes DC brushless motor 100, harmonic speed reducer 102 and load 107, will
Spring-damper system is done in harmonic speed reducer simplification, and thus control object can regard the two mass systems coupled together by spring damping as
System.The innermost ring of system to most outer shroud be motor side electric current loop, motor side speed ring, load end speed ring and load end position respectively
Put ring.By 110 interior detectors part of motor driver, the electric current of motor detects that motor speed is by motor side rotary encoder 101
The position signalling differential of detection is obtained.The speed of load end and positional information, difference can be by tachometer 108 and photoelectric encoder
109 obtain.
The first step：The installation and connection of system.For avoiding the loss of rigidity caused between connector as far as possible, by the defeated of motor
Shaft is connected directly on the wave producer of harmonic speed reducer 102, used as the high speed shaft of decelerator input.Meanwhile, in order to by direct current without
The casing of 100 harmonic decelerator 101 of brush motor is fixed in the frame 103 of system, needs two transition pieces 104 that fixes and mistake
Part 105 is crossed, by this two transition piece, 100 harmonic of DC brushless motor deceleration 101 is fixed in frame 103, harmonic reduction
The slow-speed shaft of the output of device 101 is connected in load 107 with a connector 106 rotated with load.Tachometer and photoelectric coding
Device is mounted in load end.Used as the main control computer of whole system, control chip selects the dsp chip of TI companies production.
Second step, design current ring controller 1000, current loop controller C of designIS () is as follows：
Wherein KpiFor electric current loop proportionality coefficient, KiiFor electric current loop integral coefficient, s is Laplace operator.
3rd step, sharp design (calculated) load end speed ring controller 1002.Design (calculated) load end speed ring control on the basis of second step
Device 1002C processedVlS () is as follows：
Wherein KplFor proportionality coefficient, KilFor integral coefficient, s is Laplace operator.Using the controller output signal as
The reference signal of motor driver 110, the i.e. reference signal of current loop controller 1000, then complete the first step again.Most
The speed data of the load 107 that real time record tachometer 108 is measured afterwards.
4th step, design (calculated) load end position ring closed loop controller 1003, design (calculated) load end position ring on the basis of the 3rd step
Controller 1003CPS () is as follows：
Wherein KpFor proportionality coefficient, KiFor integral coefficient, s is Laplace operator.Using the controller output signal as speed
The reference signal of degree ring, then completes the second step again.Last real time record photoelectric encoder 109 measures the positional number of load
According to.
5th step, design motor side speed ring controller 1001.Design motor side speed ring control on the basis of second step
Device 1001CVmS () is as follows：
WhereinFor proportionality coefficient,For integral coefficient, s is Laplace operator.The controller output signal is made
For the reference signal of speed ring, second step loop is then completed again.The load byte that last real time record photoelectric encoder 109 is measured
Put data.
6th step, redesigns load end ring controller 1003；Load end is redesigned on the basis of first five step
Position ring controller 1003.Design (calculated) load end position ring controller 1003CP2S () is as follows：
Wherein Kp2For load end ring proportionality coefficient, K under dual rate-loopi2Accumulate for load end ring under dual rate-loop
Divide coefficient.Whole Control System Design is finished.
Fig. 3 reflections be second step experimental result, i.e. tracking situation of the one velocity closed loop load speed to reference velocity,
It can be seen that when speed commutates, there are larger dead band in figure.
Fig. 4 reflections are experimental results that motor side speed closed loop back loading speed track to reference velocity, and motor side is fast
After degree closed loop, dead band is overcome obvious effect, but spike error is larger.
Even if the error of load tracking speed in Fig. 4 of Fig. 5 reflections.
What Fig. 6 reflected is the experimental result of the 4th step, it can be seen that after motor side speed closed loop and load end speed closed loop,
The dead band of system and tracking error are all little a lot.
What Fig. 7 reflected is the error of load tracking speed in Fig. 6.
What Fig. 8 and Fig. 9 reflected respectively is the 3rd step and the experimental result after the amplification of the 5th step, i.e. one velocity closed loop and double speed
The position tracking result of degree closed loop back loading.The position signalling of tracking is θ=15sin (0.33t).
What Figure 10 reflected is the tracking error result in Fig. 8 and Fig. 9, it can be seen that after two-speed closed loop, the tracking of system
Error is little a lot.
Claims (3)
1. the position control system with high accuracy of harmonic drive, it is characterised in that：By designing motor side speed ring, by harmonic reduction
The nonlinear characteristic of device is isolated in outside motor current ring and speed ring, increased the anti-interference kinetic energy of direct current brushless servo motor
Power, in the external design (calculated) load speed ring and load situation ring of motor speed ring, realizes the high precision position control of harmonic drive,
Overcome the nonlinear dead-zone characteristic of harmonic drive；The control system includes：Current loop controller (1000), motor side speed ring
Controller (1001), load end speed ring controller (1002), load end ring controller (1003)；Current loop controller
(1000) include with motor side speed ring controller (1001) necessary hardware：DC brushless motor (100), rotary encoder
And motor driver (110) (101)；Load end speed ring controller (1002) necessary hardware includes：DC brushless motor
(100), rotary encoder (101), motor driver (110), main control computer (111) and tachometer (108)；Load end
Ring controller (1003) necessary hardware includes：DC brushless motor (100), rotary encoder (101), motor driver (110),
Main control computer (111), tachometer (108) and photoelectric encoder (109)；Wherein rotary encoder (101) is mounted in brush DC
The afterbody of motor (100), using rotary encoder (101) characteristic by detecting DC brushless motor (100) inner rotator
Position, and the corresponding speed of decoupling and electric current is solved, so that the design of motor side speed ring and electric current loop can be completed；For avoiding as far as possible
The loss of rigidity caused between connector, the output shaft of motor is connected directly on the wave producer of harmonic speed reducer (102), as
The high speed shaft of decelerator input, while in order to the casing of DC brushless motor (100) harmonic decelerator (102) to be fixed on be
In the frame (103) of system, two fixed transition pieces, i.e. First Transition part (104) and the second transition piece (105) is needed, is passed through
The two transition pieces, DC brushless motor (100) harmonic deceleration (102) are fixed in frame (103), harmonic speed reducer
(102) slow-speed shaft for exporting is connected in load (107) with a connector (106) rotated with load.
2. a kind of install harmonic drive high precision position control method, it is characterised in that step is as follows：
The first step, current loop controller (1000) in design harmonic drive system；
There is the size for detecting that the device of electric current can detect three-phase current on motor inside motor driver (110), using the device
The feedback signal that the electric current that part is detected is driven as electric current loop, defeated to DC brushless motor (100) on motor driver (110)
The driving current for entering is used as reference signal, current loop controller C of designIS () is as follows：
Wherein KpiFor proportionality coefficient, KiiFor integral coefficient, s is Laplace operator；
Second step, using tachometer design (calculated) load end speed ring controller (1002) of load end；
Obtain and include harmonic speed reducer nonlinear dead-zone intrinsic speed tracking test data；Load end speed loop is in electric current
A closed loop on the basis of loop back path, the loading speed signal for mainly being measured by the use of tachometer (108) in real time is used as feedback
Signal, reference signal of the rate signal sent by main control computer (111) as system, design (calculated) load end speed ring controller
(1002)CVlS () is as follows：
Wherein KplFor proportionality coefficient, KilFor integral coefficient, s is Laplace operator；Using the controller output signal as motor
The reference signal of driver (110), the i.e. reference signal of current loop controller (1000), then complete the first step, most again
The speed data of the load (107) that real time record tachometer (108) is measured afterwards；
3rd step, using photoelectric encoder design (calculated) load end position ring controller (1003) of detection load Angle Position；
Load situation loop back path is a closed loop on the basis of speed loop and current loop, mainly using high-precision
The load position signal that the photoelectric encoder (109) of degree is measured in real time is used as feedback signal, the motion sent by main control computer
Reference signal of the signal as system, design (calculated) load end position ring controller (1003) CPS () is as follows：
Wherein KpFor proportionality coefficient, KiFor integral coefficient, s is Laplace operator, using the controller output signal as speed ring
Reference signal, then complete the second step again；Last real time record photoelectric encoder (109) measures the positional number of load
According to；
4th step, on the basis of based on the first step and second step, designs motor side speed ring controller (1001)；
The motor position signal for being measured using the rotary encoder (101) of DC brushless motor (100) end in real time, after differential
To the rate signal of rotor, and the feedback signal as motor side closed loop, and loaded by the second step
The signal that end speed ring is sent designs motor side speed ring controller (1001) C as the reference signal of motor side speed ringVm
S () is as follows：
WhereinFor proportionality coefficient,For integral coefficient, s is Laplace operator；Using the controller output signal as speed
The reference signal of degree ring, then completes second step loop again；The load situation that last real time record photoelectric encoder (109) is measured
Data；
5th step, designs the load end ring controller (1003) on the basis of front four step；
On the basis of the 4th step, with reference to the 3rd step design (calculated) load end position ring controller (1003) CP2S () is as follows：
Wherein Kp2For load end ring proportionality coefficient, K under single speed adjusteri2For load end ring integration system under single speed adjuster
Number；Load (107) is held the position signalling that photoelectric encoder (109) is measured as feedback signal, the motion that master signal sends
Signal designs closed loop controller as reference signal, and output signal is sent to load end speed ring controller (1002), load end speed
The output signal of degree ring controller (1002) is sent to motor side speed ring controller (1001), finally passes to current loop controller
(1000), so far, whole control system controller design is finished.
3. the high precision position control method of harmonic drive according to claim 2, it is characterised in that the 4th described step
Involved two-speed closed loop is to suppress harmonic speed reducer flexibility and non-linear friction to bring the non-linear of harmonic drive system
Dead Zone；In described second step, the 3rd step and the 4th step designed controller can be the control of PI types, the control of PID types,
Active Disturbance Rejection Control, fuzzy control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299719.XA CN104062983B (en) | 2014-06-26 | 2014-06-26 | A kind of position control system with high accuracy of harmonic drive and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299719.XA CN104062983B (en) | 2014-06-26 | 2014-06-26 | A kind of position control system with high accuracy of harmonic drive and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104062983A CN104062983A (en) | 2014-09-24 |
| CN104062983B true CN104062983B (en) | 2017-03-15 |
Family
ID=51550743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410299719.XA Active CN104062983B (en) | 2014-06-26 | 2014-06-26 | A kind of position control system with high accuracy of harmonic drive and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104062983B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570730A (en) * | 2014-11-26 | 2015-04-29 | 中国科学院光电技术研究所 | Improved auto-disturbance rejection controlling method |
| CN104536297B (en) * | 2015-01-22 | 2017-11-24 | 中国科学院光电技术研究所 | A kind of more closed loop control methods of tandem active disturbance rejection |
| CN105373143B (en) * | 2015-10-21 | 2018-06-01 | 中国科学院光电技术研究所 | A kind of large-scale astronomical telescope high-precision control system and method for inhibiting wind load disturbance |
| CN106655956B (en) * | 2016-11-17 | 2018-10-12 | 北京特种机械研究所 | Servo-control system mechanical resonant suppressing method |
| CN109212962A (en) * | 2017-07-03 | 2019-01-15 | 中车株洲电力机车研究所有限公司 | Acceleration calculation method, closed-loop control system and acceleration estimation device |
| CN112332727A (en) * | 2020-10-27 | 2021-02-05 | 恒大新能源汽车投资控股集团有限公司 | Motor control method, vehicle and vehicle-mounted electronic equipment |
| CN112959321B (en) * | 2021-02-10 | 2022-03-11 | 桂林电子科技大学 | Robot flexible joint conversion error compensation method based on improved PI structure |
| CN113110286B (en) * | 2021-03-30 | 2022-12-30 | 中国科学院光电技术研究所 | Precision clearance control system and method based on pressure feedback |
| CN114415521B (en) * | 2022-03-25 | 2022-07-05 | 北京航空航天大学 | Anti-interference control method for frame system driven by harmonic reducer |
| CN114488782B (en) * | 2022-04-18 | 2022-08-19 | 中国科学院西安光学精密机械研究所 | Turntable double-position ring control method and system based on harmonic speed reducing mechanism |
| CN115955147B (en) * | 2023-03-14 | 2023-05-26 | 江苏开璇智能科技有限公司 | Harmonic digital control turntable double feedback control method based on double encoders |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5252900A (en) * | 1989-12-31 | 1993-10-12 | Kabushiki Kaisha Sg | Harmonization control system for plural shafts |
| CN101571723A (en) * | 2008-04-30 | 2009-11-04 | 南京理工大学 | High-precision drive and control integration motor |
| CN102354134A (en) * | 2011-09-02 | 2012-02-15 | 北京邮电大学 | FPGA-based modularization double-joint servo control system |
| CN103846712A (en) * | 2014-02-12 | 2014-06-11 | 山东宏泰机械科技股份有限公司 | Combined type rotation driving unit |
-
2014
- 2014-06-26 CN CN201410299719.XA patent/CN104062983B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5252900A (en) * | 1989-12-31 | 1993-10-12 | Kabushiki Kaisha Sg | Harmonization control system for plural shafts |
| CN101571723A (en) * | 2008-04-30 | 2009-11-04 | 南京理工大学 | High-precision drive and control integration motor |
| CN102354134A (en) * | 2011-09-02 | 2012-02-15 | 北京邮电大学 | FPGA-based modularization double-joint servo control system |
| CN103846712A (en) * | 2014-02-12 | 2014-06-11 | 山东宏泰机械科技股份有限公司 | Combined type rotation driving unit |
Non-Patent Citations (4)
| Title |
|---|
| 谐波减速器的非线性摩擦建模及补偿;韩邦成等;《光学精密工程》;20110531;第19卷(第5期);第1095-1103页 * |
| 谐波驱动伺服系统的改进自适应鲁棒控制;王会方等;《浙江大学学报（工学版）》;20121031;第46卷(第10期);第1757-1763页 * |
| 跟踪系统中多闭环控制模式的分析和实现;唐涛等;《光电工程》;20080731;第35卷(第7期);第1-5页 * |
| 陀螺惯性平台视轴稳定双速度环串级控制的研究;姬伟等;《仪器仪表学报》;20070131;第28卷(第1期);第114-119页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104062983A (en) | 2014-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104062983B (en) | A kind of position control system with high accuracy of harmonic drive and method | |
| CN104639003B (en) | A kind of method for identification of rotational inertia of AC servo | |
| CN110531707B (en) | Friction model improvement and dynamic parameter identification method of SCARA robot | |
| CN102431043B (en) | Reducer abnormality determination method, abnormality determination device, and robot system | |
| CN206251006U (en) | A kind of twin shaft artificial rotary table control device | |
| CN103853099B (en) | The Servocontrol device of position correction function with driven member | |
| CN102011799A (en) | High-reliability energy storage flywheel magnetic bearing digital control system | |
| CN103259479A (en) | Method for observing left inverse state of neural network of permanent magnet synchronous motor | |
| CN105406786A (en) | Rotational inertia identification method for permanent magnet synchronous motor | |
| CN103472730A (en) | Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model | |
| CN102185546A (en) | Drive control method and system for large-caliber telescope arc motor | |
| CN102013856A (en) | Integrated magnetic suspension flywheel digital control device with high reliability | |
| CN102424075A (en) | Rigid flexible coupled wirewalking robot based on balance beam | |
| CN109586642A (en) | A kind of complementary sliding formwork switching control Rotating speed measring method of magnetic gear compound machine | |
| CN103713520A (en) | Gyroscope stabilized platform adaptive composite control method | |
| CN201776187U (en) | Biaxial self-adapting dynamic balance actuating device for centrifugal machine | |
| CN202927362U (en) | Structure of pipeline inspection robot | |
| CN107076643B (en) | The control device of dynamometer system | |
| CN108923711A (en) | A kind of absolute value encoder adjusting zero method of servo-system zero point check and correction | |
| CN102497149B (en) | Direct decoupling control method of permanent magnet linear synchronous motor-driven suspension platform | |
| CN205427466U (en) | Accurate locus tracking device of linear electric motor | |
| Tong et al. | Harmonic gear reducer transmission error analysis and detection | |
| CN201464186U (en) | Hardware-in-the-loop simulation testing stand based on electronic mechanical braking system | |
| CN201991942U (en) | High reliable magnetic bearing digital control system for energy storage flywheel | |
| CN105856238B (en) | Four core, six axis is wirelessly transferred the quick natural gas line robot control system of crawler type |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |