作者：姜自莲, 李刚俊

作者单位：成都工业学院, 四川 成都 610031

关键词：控制器;谐波传动;精密系统;摩擦力

摘要：

建立精密谐波传动数学模型,分别研究线性控制器和脉冲控制器的精度,继而定量讨论摩擦力对脉冲控制器的精度影响。仿真和试验结果表明:谐波传动的摩擦力会严重降低脉冲控制器的性能;脉冲控制器的准确度高于线性控制器的准确度。该研究将有益于谐波传动在高精密控制系统中的应用。

Study of resolution for harmonic drive controller with friction in precision system

JIANG Zilian, LI Gangjun

Chengdu Technological University, Chengdu 610031, China

Abstract: The friction mathematical model of harmonic drives was built up in precision control system. The precision of the linear controller and that of the impulse controller in robotic manipulator system were studied respectively. Then friction effect on resolution of impulse control system was investigated. Simulation and experiments show that the resolution of impulse control is much better than that of linear control, friction in harmonic drive degrades the performance of impulse control, this will benefit the use of harmonic drive in precision control system.

Keywords: controller;harmonic drive;precision system;friction

2015, 41(2): 96-100  收稿日期: 2014-4-16;收到修改稿日期: 2014-6-24

基金项目: 国家自然科学基金项目(61303232);河南省教育厅科学技术研究重点项目(13A510756)

作者简介: 姜自莲(1972-),女,四川广安市人,副教授,硕士,研究方向为材料加工。

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