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Harmonic reducer output torque strong disturbance rejection control method based on phase optimization

A harmonic reducer, phase optimization technology, applied in belt/chain/gear, mechanical equipment, transmission, etc., can solve the problems of ignoring nonlinear dynamics, large conservatism, insufficient utilization of characteristic information, etc., to achieve enhanced tracking control Accuracy, the effect of overcoming limitations

Pending Publication Date: 2022-04-12
HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, the control methods based on these two observers have their limitations: first, when estimating modelable disturbances based on disturbance observer control (DOBC), the nonlinear dynamics dominated by model errors are ignored; then, based on When the extended state observer control (ADRC) estimates the disturbance, the known characteristic information of the disturbance is underutilized, and the conservativeness is large

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  • Harmonic reducer output torque strong disturbance rejection control method based on phase optimization
  • Harmonic reducer output torque strong disturbance rejection control method based on phase optimization
  • Harmonic reducer output torque strong disturbance rejection control method based on phase optimization

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Embodiment Construction

[0050] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0051] Such as figure 1 Shown, the concrete realization steps of the present invention are as follows:

[0052] In the first step, the dynamic equation of the harmonic reducer including friction, transmission error and stiffness nonlinearity is established:

[0053] Aiming at the inherent stress contact friction loss in the harmonic gear transmission mechanism and the hysteresis nonlinearity caused by the insufficient torsional stiffness of the flexible member, and considering the coupling relationship between the transmission error and the stiffness nonlinearity at the same time, a model including friction, transmission error and stiffness nonlinearity is established. The dynamic model of the harmonic reducer is as follows:

[0054]

[0055] In the formula, J i and J o respectively represent the moments of inertia of the input and output ends of the h...

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Abstract

The invention relates to a harmonic reducer output torque strong anti-interference control method based on phase optimization, which comprises the following steps of: firstly, establishing a harmonic reducer transmission model containing multi-source interference such as friction, transmission error and rigidity nonlinearity, and designing an interference observer by using model information to estimate an unknown hysteresis torque caused by friction and a flexible member; secondly, regarding unmodeled dynamics of the system, external disturbance and an uncompensated part of the disturbance observer as lumped disturbance, designing an extended state observer for estimation and compensating through a feedback control law; and finally, aiming at the phase lag caused by the estimation error, designing an extended state observer phase optimization law to eliminate the phase lag, thereby enhancing the estimation capability of the extended state observer on the total disturbance. According to the strong disturbance rejection control method based on phase optimization, the disturbance observer and the phase optimization extended state observer are effectively combined, multi-source disturbance can be better estimated, and the tracking control precision of the output torque of the harmonic reducer is enhanced.

Description

technical field [0001] The invention relates to a phase-optimized harmonic reducer output torque strong anti-disturbance control method, which can realize harmonic reducer friction, transmission error and stiffness nonlinear multi-source interference estimation and compensation, and can be used for precision electromechanical deceleration control. Background technique [0002] Harmonic reducers have the advantages of near zero backlash, compactness, light weight, high torque, high gear ratio, and coaxial assembly, which make harmonic drives suitable for precise motion mechanisms such as lightweight robots / manipulators , force feedback haptic device and steer-by-wire system. For example, the James Webb Space Telescope requires a steering accuracy of 0.004 arcseconds. The demand for high-precision steering places extremely high requirements on the speed / torque control capability of harmonic drives. However, due to the existence of inherent factors such as friction, transmissi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H49/00
Inventor 郭雷夏鹏飞李文硕朱玉凯
Owner HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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