Research on nonlinear friction compensation of harmonic drive in gimbal servo-system of DGCMG

Han, Bangcheng; Ma, Jijun; Li, Haitao

doi:10.1007/s12555-014-0430-8

Cited by 14 publications

(5 citation statements)

References 10 publications

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“…It is now well established from a variety of studies, viscous, the Stribeck [21] and the Coulomb model [22], [23], and the polynomial [3], [24], [25] model, some model functions consist of piecewise linear segments [26]. Static friction also includes Stribeck terms.…”

Section: At This Time It Is Necessary To Know What External Force Ormentioning

confidence: 99%

Friction-Identification of Harmonic Drive Joints Based on the MCMC Method

Wang

Cheng

et al. 2022

IEEE Access

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Although harmonic drives have been adopted by all sorts of industrial environments, the mathematical expression of its dynamics has not yet been fully solved. An intelligent algorithm based on data acquisition is used to analyze the kinematic parameter of the flexible manipulator offline to improve the accuracy of predicting output torque. In this study, a method is proposed to capture the dynamics of harmonic drive systems, such as temperature, speed, and load. A friction model is proposed, and the model parameters are estimated by MCMC (Markov chain Monte Carlo) approximation. The accuracy of the estimated parameters in different conditions is calculated, and the sensitivity to parameter uncertainty of the proposed model is considered.

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Section: At This Time It Is Necessary To Know What External Force Ormentioning

confidence: 99%

Friction-Identification of Harmonic Drive Joints Based on the MCMC Method

Wang

Cheng

et al. 2022

IEEE Access

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“…Numerous works have been published on the friction torque model of HD gearboxes [11], [12], [13], [14], [15] [16] considering friction as constant, while several friction models consider the friction as dependent of the load and the sense of movement [17], [18], [19], [20].…”

Section: A Friction Torque Model Of Gearboxesmentioning

confidence: 99%

Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram

Wilfrido

Abba

Antoine

et al. 2021

2021 12th International Conference on Mechanical and Aerospace Engineering (ICMAE)

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Industrial robotics and aerospace engineering widely use harmonic drive gearboxes for their reliability, high accuracy with zero backlash and high ratio torque transmission However, they present known problematic behaviors that affect their performance. The article deals with the first step towards the improvement of torque control of collaborative robots. We designed and developed two experimental setups to study three types of Harmonic Drive gearboxes. We identify the friction laws by using Force Transfer Diagrams. The results exhibit a new parabolic law of friction torque as a function of the transmitted torque.

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“…Harmonic drives are particularly notable for their characteristics like low noise, compact size, lightweight, high load capacity, high reduction ratio, and efficiency, making them increasingly popular in industrial, service, and specialized robots. The accuracy of harmonic drives' transmission is influenced by factors such as transmission friction, stiffness, and clearance [3][4][5][6]. This paper focuses on examining how clearance affects transmission accuracy, considering causes like meshing gaps between flexible and rigid wheels, manufacturing and assembly inaccuracies, clearance in moving parts of wave generators, elastic deformation, and temperature variations.…”

Section: Introductionmentioning

confidence: 99%

Research on the EMA Control Method Based on Transmission Error Compensation

Zhang,

Shi,

et al. 2024

Energies

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This research investigates the impact of nonlinear clearance factors on position tracking accuracy in the servo drive system of a harmonic reducer. The study introduces a technique for modeling and compensating for transmission errors, thereby improving position tracking accuracy through online compensation combined with an auto-disturbance rejection controller. Initially, the mathematical model of the permanent magnet synchronous motor is outlined, and the current loop and speed loop control models are derived. Subsequently, an electromechanical actuator (EMA) simulation model with clearance is established, and detailed simulation analysis is conducted to verify the impact of clearance on tracking accuracy. A model for online compensation of transmission errors is then developed. Following the principles of active disturbance rejection control (ADRC), a second-order ADRC is formulated for real-time compensation of transmission errors in EMA position mode. Finally, through no-load and load experiments, the change in position tracking error with and without transmission error compensation is compared and analyzed. The results demonstrate that utilizing automatic disturbance rejection control with transmission error compensation achieves the highest position tracking accuracy. Compared to the proportion integration differentiation (PID) control method, the root mean square of position tracking error is reduced by approximately 12.8% and 17.3% under no-load and load conditions, respectively. By compensating for position errors online, the accuracy of the EMA position can be improved.

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Research on nonlinear friction compensation of harmonic drive in gimbal servo-system of DGCMG

Cited by 14 publications

References 10 publications

Friction-Identification of Harmonic Drive Joints Based on the MCMC Method

Friction-Identification of Harmonic Drive Joints Based on the MCMC Method

Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram

Research on the EMA Control Method Based on Transmission Error Compensation

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