Modeling of precision harmonic drive system

HEI Mo; FAN Shi-xun; LIAO Hong-bo; ZHOU Qing-kun; FAN Da-peng

doi:10.3788/OPE.20142207.1842

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Modeling of precision harmonic drive system

更新时间：2020-08-13

- Modeling of precision harmonic drive system
- Optics and Precision Engineering Vol. 22, Issue 7, Pages: 1842-1849(2014)
- 作者机构：
  
  国防科技大学机电工程与自动化学院,湖南长沙,410072
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142207.1842
  CLC： TH132.43
- Received：15 December 2013，
  
  Revised：23 January 2014，
  
  Published：25 July 2014
- 稿件说明：
移动端阅览
黑沫, 范世珣, 廖洪波等. 精密谐波传动系统建模[J]. 光学精密工程, 2014,22(7): 1842-1849

HEI Mo, FAN Shi-xun, LIAO Hong-bo etc. Modeling of precision harmonic drive system[J]. Editorial Office of Optics and Precision Engineering, 2014,22(7): 1842-1849
黑沫, 范世珣, 廖洪波等. 精密谐波传动系统建模[J]. 光学精密工程, 2014,22(7): 1842-1849 DOI： 10.3788/OPE.20142207.1842.

HEI Mo, FAN Shi-xun, LIAO Hong-bo etc. Modeling of precision harmonic drive system[J]. Editorial Office of Optics and Precision Engineering, 2014,22(7): 1842-1849 DOI： 10.3788/OPE.20142207.1842.

摘要

针对谐波传动系统的控制方法与性能预测问题，本文考虑影响谐波传动系统性能的主要因素，提出了一种精密谐波传动系统建模方法。建立了整个谐波传动系统的动力学模型和Simlink仿真模型，给出了仿真模型中各参数的获取方法。针对模型中难于准确测得的参数，提出了一种最小二乘辨识方法。对谐波传动系统的仿真模型进行了时频域仿真分析与实验验证，结果表明：建立的谐波传动系统模型各参数具有明确物理意义，便于工程应用；建模时仅利用一次扫频即可得到所有未知参数的估计值，提高了参数获取的效率，降低了成本；仿真模型与实际系统时频域特性基本一致，所有结果匹配度超过70%。得到的结果验证了该建模方法的正确性。

Abstract

In consideration of the control method and performance prediction of harmonic drive systems

a modeling method of precision harmonic drive system was proposed according to the main factors effecting the performance of harmonic drive system.A dynamics model and a Simlink simulation model of harmonic drive system were established

and an method to obtain the simulation model parameters was researched.A least square identification method was presented to identify the parameters which are difficult to be accurately measured in the model.The time-frequency domain simulation analyses and experimental verification were performed.Simulation and experimental results show that the model parameters of the harmonic drive system have clear physical meaning and are convenient for engineering application.When the model is established

one frequency sweep only can estimate the unknown parameters

improve the efficiency of parameter acquisition and reduce the cost.Moreover

the experimental results are basically consistent with that of the simulation one and the matching degree of the results is greater than 70%.These data verify the correctness of the modeling method.

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references

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