Servo Control of a Harmonic Drive System with Torque Feedback
碩士 === 國立雲林科技大學 === 機械工程系碩士班 === 93 === The purpose of this study is the position control of a harmonic drive system. We design controllers with disturbance observers to reduce the effects of output position ripples and frictions of the system. This structure of the control law can improve transient...
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ndltd-TW-093YUNT54890522015-10-13T11:54:00Z http://ndltd.ncl.edu.tw/handle/15060461201149155277 Servo Control of a Harmonic Drive System with Torque Feedback 具力矩感測之諧波驅動系統伺服控制 Chi-Sheng Hwang 黃啟勝 碩士 國立雲林科技大學 機械工程系碩士班 93 The purpose of this study is the position control of a harmonic drive system. We design controllers with disturbance observers to reduce the effects of output position ripples and frictions of the system. This structure of the control law can improve transient response and tracking performance, and can attenuate the disturbance of the system as well. Regarding the controllers, we designed Sub-System Backstepping Design (SSBD), which has the advantages of both Multiple-Loop Design and Conventional Integrator Backstepping Design. In the disturbance compensator, we utilized Sliding-Mode Disturbance Observer (SDOB) to compensate for system parameters uncertainly and unknown disturbances effectively. Furthermore, we proposed the Internal Model Principle based SSBD controller and SDOB compensator, which can sufficiently reduce the periodical disturbance. We use FHA-SP in the experimental setup, a product by HarmonicDrive Corporation and German Aerospace Center (DLR). The FHA-SP included a harmonic drive gear and a torque sensor, and drives an one-link robot manipulator. To implement control laws, we combined with TI’s DSK with an expansion board as our control kernel. Besides, we use C language and hardware description language (VHDL) as a tool for developing our control system. In this thesis, we establish the mathematical model of the harmonic drive system and identify parameters through experiments. The experimental results show the feasibility of the control schemes designed for the harmonic drive system. Yu-Sheng Lu 呂有勝 2005 學位論文 ; thesis 60 zh-TW |
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碩士 === 國立雲林科技大學 === 機械工程系碩士班 === 93 === The purpose of this study is the position control of a harmonic drive system. We design controllers with disturbance observers to reduce the effects of output position ripples and frictions of the system. This structure of the control law can improve transient response and tracking performance, and can attenuate the disturbance of the system as well.
Regarding the controllers, we designed Sub-System Backstepping Design (SSBD), which has the advantages of both Multiple-Loop Design and Conventional Integrator Backstepping Design. In the disturbance compensator, we utilized Sliding-Mode Disturbance Observer (SDOB) to compensate for system parameters uncertainly and unknown disturbances effectively. Furthermore, we proposed the Internal Model Principle based SSBD controller and SDOB compensator, which can sufficiently reduce the periodical disturbance.
We use FHA-SP in the experimental setup, a product by HarmonicDrive Corporation and German Aerospace Center (DLR). The FHA-SP included a harmonic drive gear and a torque sensor, and drives an one-link robot manipulator. To implement control laws, we combined with TI’s DSK with an expansion board as our control kernel. Besides, we use C language and hardware description language (VHDL) as a tool for developing our control system. In this thesis, we establish the mathematical model of the harmonic drive system and identify parameters through experiments. The experimental results show the feasibility of the control schemes designed for the harmonic drive system.
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author2 |
Yu-Sheng Lu |
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Yu-Sheng Lu Chi-Sheng Hwang 黃啟勝 |
author |
Chi-Sheng Hwang 黃啟勝 |
spellingShingle |
Chi-Sheng Hwang 黃啟勝 Servo Control of a Harmonic Drive System with Torque Feedback |
author_sort |
Chi-Sheng Hwang |
title |
Servo Control of a Harmonic Drive System with Torque Feedback |
title_short |
Servo Control of a Harmonic Drive System with Torque Feedback |
title_full |
Servo Control of a Harmonic Drive System with Torque Feedback |
title_fullStr |
Servo Control of a Harmonic Drive System with Torque Feedback |
title_full_unstemmed |
Servo Control of a Harmonic Drive System with Torque Feedback |
title_sort |
servo control of a harmonic drive system with torque feedback |
publishDate |
2005 |
url |
http://ndltd.ncl.edu.tw/handle/15060461201149155277 |
work_keys_str_mv |
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