2024
DOI: 10.3390/en17112528
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Research on the EMA Control Method Based on Transmission Error Compensation

Pan Zhang,
Zhaoyao Shi,
Bo Yu
et al.

Abstract: 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 derive… Show more

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