Event-based discontinuous control for harmonic drive system with the damping enhancement of acceleration feedback

Author

Han, J.D. ; Qiu, Z.C. ; Wang, Y.C.

Author_Institution

Robotics Lab., Acad. Sinica, Shenyang, China

Volume

2

fYear

2000

fDate

2000

Firstpage

1356

Abstract

This paper presents an event-based discontinuous control scheme for harmonic drive (HD) transmission. It is composed of two control strategies, namely, the motor-side PD control refined by load-side acceleration feedback, and the output torque control. Switching between these two modes is based on the external working condition of the HD. This intends to generate appropriate control actions according to the actual problems of the HD, which are different and closely dependent on its external conditions. Extensive experiments were conducted on a single link device driven by an AC motor and harmonic transmission to test the performance of the proposed scheme

Keywords

AC motor drives; acceleration control; damping; feedback; harmonics; torque control; two-term control; vibration control; AC motor drives; PD control; acceleration feedback; damping; event-based discontinuous control; harmonic drive system; torque control; AC motors; Acceleration; Control systems; Drives; Employee welfare; High definition video; Output feedback; PD control; Testing; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on

Conference_Location

Hefei

Print_ISBN

0-7803-5995-X

Type

conf

DOI

10.1109/WCICA.2000.863466

Filename

863466