Compound optimal control of harmonic drive considering hysteresis characteristic

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dc.contributor.author Lu, Quan
dc.contributor.author Gang, Tieqiang
dc.contributor.author Hao, Guangbo
dc.contributor.author Chen, Lijie
dc.date.accessioned 2019-09-17T15:27:53Z
dc.date.available 2019-09-17T15:27:53Z
dc.date.issued 2019-07-22
dc.identifier.citation Lu, Q., Gang, T., Hao, G. and Chen, L. (2019) 'Compound optimal control of harmonic drive considering hysteresis characteristic', Mech. Sci., 10(2), pp. 383-391. (8pp.) DOI: 10.5194/ms-10-383-2019 en
dc.identifier.volume 10 en
dc.identifier.issued 2 en
dc.identifier.startpage 383 en
dc.identifier.endpage 391 en
dc.identifier.issn 2191-9151
dc.identifier.uri http://hdl.handle.net/10468/8552
dc.identifier.doi 10.5194/ms-10-383-2019 en
dc.description.abstract Hysteresis behavior widely exists in the transmission process of harmonic drives. Eliminating the hysteresis effect is highly desired in the high-precision mechanical transmission, which results in challenges in the control design. This paper aims to improve the tracking accuracy of the motor-harmonic drive serial system. Firstly, a modified Bouc-Wen model based on uniform smooth approximating function is applied to describe the hysteresis behavior of the harmonic drive. By using coordinate transformation and accurate state feedback linearization, we then obtain the mathematical model of the serial system of the motor-harmonic drive. Finally, the reference trajectory is tracked by a compound optimal controller that is based on a linear quadratic regulator. Simulation results show that compared with the disturbance observer-based control (DOBC) using a linear observer, the new compound optimal controller in this paper presents a smoother control signal with the elimination of large amount of high-frequency oscillations. Furthermore, the relative error in the steady state tracking tends to approach to zero and no cyclic fluctuations appears. With the employing of optimal control, the output of the harmonic drive can trace more complex trajectory. en
dc.description.sponsorship National Natural Science Foundation of China (grant no. 51475396) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Copernicus Publications; European Geosciences Union (EGU) en
dc.relation.uri https://www.mech-sci.net/10/383/2019/ms-10-383-2019.html
dc.rights © Author(s) 2019. This work is distributed under the Creative Commons Attribution 4.0 License. en
dc.rights.uri https://creativecommons.org/licenses/by/4.0/ en
dc.subject Compound optimal control en
dc.subject Harmonic drive en
dc.subject Hysteresis characteristic en
dc.subject Hysteresis effect en
dc.subject Bouc-Wen model en
dc.subject Coorindate transformation en
dc.subject Feedback linearization en
dc.subject Linear quadratic regulator en
dc.subject Disturbance observer-based control (DOBC) en
dc.title Compound optimal control of harmonic drive considering hysteresis characteristic en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guanbo Hao, School of Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.description.version Published Version en
dc.contributor.funder National Natural Science Foundation of China en
dc.description.status Peer reviewed en
dc.identifier.journaltitle Mechanical Sciences en
dc.internal.IRISemailaddress g.hao@ucc.ie en
dc.identifier.eissn 2191-916X


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© Author(s) 2019. This work is distributed under the Creative Commons Attribution 4.0 License. Except where otherwise noted, this item's license is described as © Author(s) 2019. This work is distributed under the Creative Commons Attribution 4.0 License.
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