谐波驱动系统的特性及控制策略研究

谐波传动有很多优点，在机器人驱动中经常被使用．但谐波传动也有一些缺点，如柔性等因素影响负载端轨迹跟踪精度．本文系统地分析了谐波传动系统的动力学特性，建立了包括电机转子惯量在内的动力学模型，疽对系统进行全面实验研究的基础上总结出谐波传动系统中存在的问题，采用相应的基于传感器的控制策略克服存在的问题，提高系统的响应性能．从理论分析和实验结果证实了提出方法的可行性。

Harmonic drives are a type of gear mechanisms that are very popular for use in robots due to their compact size, light weight, high ratio torque transmission and almost zero backlash, high precision, smooth running, and low noise. However, harmonic drive systems suffer from high flexibility, resonance vibration, friction and structural damping non linearity, which will lead to vibration and decrease the tracking accuracy of the load side of the system. We build up a model for the system including the moto...

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