Modeling of precision harmonic drive system

In consideration of the control method and performance prediction of harmonic drive systems, a modeling method of precision harmonic drive system was proposed according to the main factors effecting the performance of harmonic drive system. A dynamics model and a Simlink simulation model of harmonic drive system were established, and an method to obtain the simulation model parameters was researched. A least square identification method was presented to identify the parameters which are difficult to be accurately measured in the model. The time-frequency domain simulation analyses and experimental verification were performed. Simulation and experimental results show that the model parameters of the harmonic drive system have clear physical meaning and are convenient for engineering application. When the model is established, one frequency sweep only can estimate the unknown parameters, improve the efficiency of parameter acquisition and reduce the cost. Moreover, the experimental results are basically consistent with that of the simulation one and the matching degree of the results is greater than 70%. These data verify the correctness of the modeling method.