Predictive Control of Harmonic Drive in Automotive Application

This paper addresses the predictive control of the harmonic drive in an automotive application. The goal of the control was to provide good steering feel for the driver and satisfactory tracking performance in a steering system. The paper presents the dynamic model of the harmonic drive, a design framework and a two step algorithm for predictive controller design. The elaborated model predictive controller is similar to a cascade type controller with constraints in the performance function to ensure closed loop stability and a useful compromise between torque tracking and position tracking. The controller was developed and implemented in a real-time environment for rapid prototype design using Matlab, Simulink, Real-Time Work-shop and dSPACE AutoBox hardware, then it was experimentally tuned for best steering feel and good tracking performance.