Vibration suppression in a harmonic drive system

In this paper, a composite control method combined a finite-duration impulse-response digital (FIR) filter and an additional feedback of the difference between the motor and load speeds is proposed to suppress the vibration. The structure of the composite control is analysed, where the FIR filter is used to suppress the resonance of the compliant buffer shelf, the additional feedback of the difference between the motor and load speeds is used to suppress the resonance of the harmonic gear tram. Simulation results validate the control algorithm.