| Summary: | 碩士 === 國立雲林科技大學 === 機械工程系碩士班 === 97 === The purpose of this study is to compensate for the output torque ripple and load disturbance in a harmonic drive system. The controller is augmented with an accelerometer to reduce the adverse effects of load disturbance. Regarding the compensation of the torque ripple due to transmission error, the thesis presents a scheme referred to as Sliding Adaptive Feedforword Cancellation (Sliding AFC) that adapts Fourier coefficients and uses those coefficients to obtain appropriate feedforword compensation. These compensation schemes are integrated into the Sub-System Backstepping Design (SSBD) to reduce the output torque ripple and to compensate for the load disturbance.
The harmonic drive actuator in the experimental setup is FHA-SP, which includes a harmonic drive gear and a torque sensor and drives a one-link robot manipulator. To implement control laws, we combine 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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