Study of a new dynamic model for harmonic drive in precision control system

被引：0
|
作者：
Li G.-J. [1 ]
Chen S.-M. [2 ]
机构：
[1] Electromechanical Engineering Department, Chengdu ElectroMechanical College
[2] Press of University of Electronic Science and Technology of China
来源：
Dianzi Keji Daxue Xuebao/Journal of the University of Electronic Science and Technology of China | 2010年 / 39卷 / 05期
关键词：
Friction; Harmonic drive; Modelling; Nonlinear; Precision control;
D O I：
10.3969/j.issn.1001-0548.2010.05.020
中图分类号：
学科分类号：
摘要：
A mathematical model of precise harmonic drives transmission system including the effects of friction and transmission flexibility is developed and identified experimentally. In our model, the characteristics of the harmonic transmission are expressed as a function, the frictions in both motor and load side are analysed, nonlinear friction is described as a function of position and velocity, the average friction is described by a second order polynomial, and the periodical part of friction is simulated by Fourier series. The consistency of simulation results and experimental outcomes confirm the effectiveness of the proposed model.
引用
收藏
页码：742 / 746+773
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