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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Main Authors: Chi-Sheng Hwang, 黃啟勝
Other Authors: Yu-Sheng Lu
Format: Others
Language:zh-TW
Published: 2005
Online Access:http://ndltd.ncl.edu.tw/handle/15060461201149155277
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spelling 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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description 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.
author2 Yu-Sheng Lu
author_facet 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
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