CAJ | 학술논문

将谐波传动的摩擦模型作为控制系统模型,分析了脉冲信号作用于摩擦模型的动量、能量和运动特性,提出了用一个由2阶谐波组成的脉冲信号来驱动谐波齿轮传动,研究了谐波传动对于该新型脉冲信号的响应,设计了一个用于精密位置控制传动系统的脉冲反馈控制器,仿真和实验结果证明了该控制策略的有效性.
장해파전동적마찰모형작위공제계통모형,분석료맥충신호작용우마찰모형적동량、능량화운동특성,제출료용일개유2계해파조성적맥충신호래구동해파치륜전동,연구료해파전동대우해신형맥충신호적향응,설계료일개용우정밀위치공제전동계통적맥충반궤공제기,방진화실험결과증명료해공제책략적유효성.
The friction model of harmonic drive system is used for impulse control design in precision control system, the physics character of impose in momentum, motion and energy are analyzed and formulated, a new impulse shape which is consisted of two hormonic expansions is used to drive the motor, the experimental response and simulation response are studied, an impulse feedback controller of precision control system is developed.The results of simulation and experiment show that the control strategy is effective.