A high-precision position control system and method for harmonic drives
A technology of harmonic drive and control system, applied in the direction of using feedback control, etc., can solve problems such as increasing active damping, and achieve the effect of improving tracking accuracy, convenient debugging, and suppressing the effect of dead zone.
Active Publication Date: 2017-03-15
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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For example, in the article "Research on Harmonic Drive System Based on Acceleration Sensor Feedback Control" by Qiu Zhicheng and others ("China Mechanical Engineering", 2000, Vol. 11, No. 11, pp. 1201-1205), in order to suppress the flexibility, Due to the vibration caused by nonlinear friction and other factors to the load, a feedback control based on the acceleration sensor is proposed, which increases the active damping of the system to suppress the nonlinear disturbance of the system, but this method needs to introduce an accelerometer to measure the acceleration of the load
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[0044] Such as figure 1 As shown, the control object of the system includes the DC brushless motor 100, the harmonic reducer 102 and the load 107. The harmonic reducer is simplified as a spring-damping system, so the control object can be regarded as two masses connected by spring damping system. The innermost to outermost loops of the system are the motor-side current loop, the motor-side speed loop, the load-side speed loop, and the load-side position loop. The current of the motor is detected by the internal detection device of the motor driver 110, and the motor speed is obtained by differentiation of the position signal detected by the rotary encoder 101 at the motor end. The speed and position information of the load can be obtained by the tachometer 108 and the photoelectric encoder 109, respectively.
[0045] The first step: system installation and connection. In order to avoid the stiffness loss caused by the couplings as much as possible, the output shaft of the motor...
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The invention relates to a harmonic drive type high-accuracy position control system and method. For the nonlinear dead zone characteristic caused by harmonic drive flexibility, the system and method of the invention adopt a control structure in which a current loop sleeves a dual velocity loop and then sleeves a position loop, so the dead zone characteristic in system tracking control can be restrained, and the tracking control accuracy can be improved. The control method mainly utilizes the advantage that multiple closed-loops exist in the output feedback, the current loop is adopted to increase the stationarity of the output force moment, the position measured by a rotary encoder is utilized to decouple the rotating speed of the motor rotor to form a speed closed-loop of the motor end, the nonlinear characteristics, such as the flexibility, the friction, etc., of a harmonic reducer are isolated in advance, and the motor anti-interference capability can be enhanced. Then, accurate control is performed on the load by combining with the outer speed loop formed by a speed measuring device and a photoelectric encoder and the position loop at the load end. Compared with the existing harmonic drive type high-accuracy control technologies, advantages of high accuracy, simple control structure and convenient debugging can be realized.
Description
Technical field [0001] The invention belongs to the field of high-precision servo control of harmonic drive, and specifically relates to a high-precision control system and method of a harmonic reducer in a photoelectric tracking system. The harmonic reducer is a flexible gear drive, so the platform with the harmonic reducer is inevitably affected by the nonlinearity caused by the transmission gap and flexibility, which is mainly manifested as a dead zone phenomenon. The invention helps suppress the non-linear characteristics of the dead zone caused by the gap and flexibility, and improves the tracking accuracy of the servo system. [0002] technical background [0003] Harmonic drive is a transmission technology that developed rapidly in the 1980s and 1990s. It stands out among various reducer drives with the advantages of small size, light weight, large transmission ratio, and small transmission gap. It uses the difference in the number of teeth between the rigid wheel and the f...
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IPC IPC(8): G05D3/12
Inventor 黄永梅蔡华祥杜俊峰唐涛张桐付承毓
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI