CAJ | 학술논문

研究了精密位置控制传动系统中谐波齿轮的一种动态模型,该模型分析了传动系统中各种摩擦力和谐波齿轮挠性传动的影响;研究了影响摩擦力的位置、速度及载荷因素,将谐波传动的非线性特性表述成为函数,导出了一种新的包括静态、库仑、黏滞摩擦力的数学模型.试验结果验证了该模型仿真的准确性,从而可预测谐波齿轮的控制反应,这将促进高精密控制谐波齿轮的研究及应用.
연구료정밀위치공제전동계통중해파치륜적일충동태모형,해모형분석료전동계통중각충마찰력화해파치륜뇨성전동적영향;연구료영향마찰력적위치、속도급재하인소,장해파전동적비선성특성표술성위함수,도출료일충신적포괄정태、고륜、점체마찰력적수학모형.시험결과험증료해모형방진적준학성,종이가예측해파치륜적공제반응,저장촉진고정밀공제해파치륜적연구급응용.
A dynamic model of harmonic gears in precision position control transmission system is studied, the effects of various friction and harmonic gears transmission of flexibility of this model are analyzed. The effects of fric-tion position, velocity and load factors is studied, and the nonlinear characteristics of the harmonic transmission is ex-pressed as a function. A new mathematical model including static, coulomb and viscous friction is derived. Accuracy of the model simulation is verified by experimental results. So the control response of harmonic gears can be accurately predicted by the model, it will be facilitate the study and applications of high-precise control harmonic gears.