谐波
磁滞
顺从(心理学)
谐波传动
非线性系统
控制理论(社会学)
发电机(电路理论)
工程类
计算机科学
控制(管理)
功率(物理)
声学
物理
机械工程
心理学
人工智能
社会心理学
量子力学
作者
Hongwei Zhang,Saleh Ahmad,Guangjun Liu
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2015-02-01
卷期号:20 (1): 178-185
被引量:58
标识
DOI:10.1109/tmech.2014.2311382
摘要
Nonlinear torsional compliance and hysteresis are associated with harmonic drives, and their accurate modeling is crucial for improving performance of the control system of harmonic drive-based devices such as robot joints. In this paper, a new approach is taken to model the torsional compliance and hysteresis behavior in harmonic drives. The proposed model is derived by modeling the compliance behavior of the flexspline and the wave generator instead of modeling the individual behaviors of the overall harmonic drive transmission. The hysteresis loss is captured by taking the wave generator torsional compliance into account. The proposed model is validated through numerical simulations and subsequently with experimental data.
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