JP5574228B2 - 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 - Google Patents

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 Download PDF

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JP5574228B2
JP5574228B2 JP2010090694A JP2010090694A JP5574228B2 JP 5574228 B2 JP5574228 B2 JP 5574228B2 JP 2010090694 A JP2010090694 A JP 2010090694A JP 2010090694 A JP2010090694 A JP 2010090694A JP 5574228 B2 JP5574228 B2 JP 5574228B2
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compensation
friction
motor shaft
friction compensation
value
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JP2011221810A5 (enExample
JP2011221810A (ja
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良史 沖津
雄貴 加藤
浩三 佐々木
誠 岩崎
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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Priority to JP2010090694A priority Critical patent/JP5574228B2/ja
Priority to US13/072,898 priority patent/US8442692B2/en
Priority to CN201110093154.6A priority patent/CN102279605B/zh
Priority to DE102011016559.2A priority patent/DE102011016559B4/de
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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)
JP2010090694A 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 Active JP5574228B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
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
US13/072,898 US8442692B2 (en) 2010-04-09 2011-03-28 Method for performing adaptive friction compensation in an actuator accounting for variation in friction characteristics of wave gear drive accompanying change in temperature
CN201110093154.6A CN102279605B (zh) 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
DE102011016559.2A DE102011016559B4 (de) 2010-04-09 2011-04-08 Verfahren zum Durchführen adaptiver Reibungskompensation in einem Aktuator, das eine mit einer Temperaturänderung verbundene Variation der Reibungseigenschaften eines Wellgetriebes berücksichtigt

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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

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JP2011221810A JP2011221810A (ja) 2011-11-04
JP2011221810A5 JP2011221810A5 (enExample) 2013-03-21
JP5574228B2 true JP5574228B2 (ja) 2014-08-20

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US (1) US8442692B2 (enExample)
JP (1) JP5574228B2 (enExample)
CN (1) CN102279605B (enExample)
DE (1) DE102011016559B4 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10254740B2 (en) 2016-09-27 2019-04-09 Harmonic Drive Systems Inc. Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer
KR20190062097A (ko) 2016-09-27 2019-06-05 가부시키가이샤 하모닉 드라이브 시스템즈 H∞ 제어에 의한 파동 기어 장치를 구비한 액추에이터의 위치결정 제어장치

Families Citing this family (5)

* 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
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

Family Cites Families (10)

* Cited by examiner, † Cited by third party
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

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10254740B2 (en) 2016-09-27 2019-04-09 Harmonic Drive Systems Inc. Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer
KR20190062096A (ko) 2016-09-27 2019-06-05 가부시키가이샤 하모닉 드라이브 시스템즈 상태 옵저버 병용형 풀 클로즈드 제어에 의한 파동 기어 장치를 구비한 액추에이터의 위치결정 제어장치
KR20190062097A (ko) 2016-09-27 2019-06-05 가부시키가이샤 하모닉 드라이브 시스템즈 H∞ 제어에 의한 파동 기어 장치를 구비한 액추에이터의 위치결정 제어장치
US10365628B2 (en) 2016-09-27 2019-07-30 Harmonic Drive Systems Inc. Positioning control device of actuator provided with strain wave gearing using H-∞ control

Also Published As

Publication number Publication date
DE102011016559B4 (de) 2023-10-05
DE102011016559A1 (de) 2011-12-15
US20110251722A1 (en) 2011-10-13
US8442692B2 (en) 2013-05-14
CN102279605B (zh) 2015-06-17
CN102279605A (zh) 2011-12-14
JP2011221810A (ja) 2011-11-04

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