电子科技大学学报
電子科技大學學報
전자과기대학학보
JOURNAL OF UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA
2010年
5期
742-746,773
,共6页
摩擦力%谐波传动%建模%非线性%精密控制
摩抆力%諧波傳動%建模%非線性%精密控製
마찰력%해파전동%건모%비선성%정밀공제
friction%harmonic drive%modelling%nonlinear%precision control
提出了精密控制系统中谐波齿轮传动的新的数学模型,该模型综合研究了摩擦和传动挠性的影响.模型用函数描绘了谐波传动的特性,分析了谐波传动中电机一侧和载荷一侧的摩擦力,将复杂的非线性摩擦力表述为位置和速度的函数,摩擦力中的平均摩擦用二次函数表示,周期性变化的部分用傅里叶级数描述,试验数据和仿真结果的一致性证明了该模型的有效性.
提齣瞭精密控製繫統中諧波齒輪傳動的新的數學模型,該模型綜閤研究瞭摩抆和傳動撓性的影響.模型用函數描繪瞭諧波傳動的特性,分析瞭諧波傳動中電機一側和載荷一側的摩抆力,將複雜的非線性摩抆力錶述為位置和速度的函數,摩抆力中的平均摩抆用二次函數錶示,週期性變化的部分用傅裏葉級數描述,試驗數據和倣真結果的一緻性證明瞭該模型的有效性.
제출료정밀공제계통중해파치륜전동적신적수학모형,해모형종합연구료마찰화전동뇨성적영향.모형용함수묘회료해파전동적특성,분석료해파전동중전궤일측화재하일측적마찰력,장복잡적비선성마찰력표술위위치화속도적함수,마찰력중적평균마찰용이차함수표시,주기성변화적부분용부리협급수묘술,시험수거화방진결과적일치성증명료해모형적유효성.
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.
