Compound optimal control of harmonic drive considering hysteresis characteristic

dc.contributor.authorLu, Quan
dc.contributor.authorGang, Tieqiang
dc.contributor.authorHao, Guangbo
dc.contributor.authorChen, Lijie
dc.contributor.funderNational Natural Science Foundation of Chinaen
dc.date.accessioned2019-09-17T15:27:53Z
dc.date.available2019-09-17T15:27:53Z
dc.date.issued2019-07-22
dc.description.abstractHysteresis 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.sponsorshipNational Natural Science Foundation of China (grant no. 51475396)en
dc.description.statusPeer revieweden
dc.description.versionPublished Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationLu, 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-10-383-2019en
dc.identifier.doi10.5194/ms-10-383-2019en
dc.identifier.eissn2191-916X
dc.identifier.endpage391en
dc.identifier.issn2191-9151
dc.identifier.issued2en
dc.identifier.journaltitleMechanical Sciencesen
dc.identifier.startpage383en
dc.identifier.urihttps://hdl.handle.net/10468/8552
dc.identifier.volume10en
dc.language.isoenen
dc.publisherCopernicus Publications; European Geosciences Union (EGU)en
dc.relation.urihttps://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.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subjectCompound optimal controlen
dc.subjectHarmonic driveen
dc.subjectHysteresis characteristicen
dc.subjectHysteresis effecten
dc.subjectBouc-Wen modelen
dc.subjectCoorindate transformationen
dc.subjectFeedback linearizationen
dc.subjectLinear quadratic regulatoren
dc.subjectDisturbance observer-based control (DOBC)en
dc.titleCompound optimal control of harmonic drive considering hysteresis characteristicen
dc.typeArticle (peer-reviewed)en
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