摘要
为解决谐波减速器内部非线性干扰,基于离散力学理论,考虑谐波减速器固有的粘性摩擦与柔性关节特性,建立了全时域下谐波减速器的离散动力学与控制的数学模型,并针对离散时域下谐波减速器的最优时间控制问题与最优轨迹跟踪控制问题进行了研究。跟踪误差和运动轨迹分析表明:离散控制方法实现了误差为10-8rad量级的谐波减速器轨迹跟踪控制,并在具有运动约束的同时实现了最短时间到达的控制目标。
To solve the problem of internal nonlinear interferences,considering the inherent viscous fric⁃tion and flexible joint characteristics of harmonic drive,the mathematical model of discrete dynamics and control for harmonic drive under the whole control horizon based on the discrete mechanics was established.Then,the time-optimal control and the optimal tracking control of harmonic drive were studied under dis⁃crete time domain.The analysis results of tracking error and trajectory show that the discrete control method realizes the optimal tracking with error of 10-8 rad and the time-optimal control under several motion con⁃straints for the harmonic drive.
作者
陆铨
冮铁强
陈立杰
LU Quan;GANG Tie-qiang;CHEN Li-jie(School of Aerospace Engineering,Xiamen University,Xiamen 361005,China)
出处
《燃气涡轮试验与研究》
北大核心
2020年第2期48-52,共5页
Gas Turbine Experiment and Research
关键词
谐波减速器
最优控制理论
离散力学
柔性关节
粘性摩擦
非线性干扰
harmonic drive
optimal control
discrete mechanics
flexible joint
viscous friction
nonlinear interferences
