Modeling Identification, and Control of Harmonic Drives for Automotive Applications

Author

Lemmer, Lászlo ; Kiss, Bálint ; Jánosi, István

Author_Institution

Dept. of Control Eng. & Inf. Technol., Budapest Univ. of Technol. & Econ.

fYear

0

fDate

0-0 0

Firstpage

92

Lastpage

97

Abstract

This paper reports the modeling, identification, and control of harmonic drives in a novel configuration where all its shafts are allowed to move. This makes possible to solve a control problem where one applies two actuators in order to carry out simultaneous position and torque control on two different axes of the harmonic drive. Physical parameters used during the MIMO controller synthesis partially come from a 3D CAD model (inertial parameters) and others (frictional parameters) are obtained by an identification procedure using measurement data recorded on a rapid prototyping test bench

Keywords

MIMO systems; actuators; automobile industry; control system synthesis; drives; mechanical engineering computing; parameter estimation; position control; rapid prototyping (industrial); shafts; torque control; 3D CAD model; MIMO controller synthesis; actuator; automotive application; harmonic drive; parameter identification; position control; rapid prototyping test bench; shaft; torque control; Acceleration; Automotive applications; Coaxial components; Gears; Robustness; Shafts; Spline; Teeth; Testing; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Engineering Systems, 2006. INES '06. Proceedings. International Conference on

Conference_Location

London

Print_ISBN

0-7803-9708-8

Type

conf

DOI

10.1109/INES.2006.1689348

Filename

1689348