Harmonic modulation in control to reduce oscillations in mechatronic systems

In this contribution our interest focuses on applications with a mechatronic drive (MD) where electronics, a motor and a gear-box i.e. a harmonic drive(R) is merged to one module. Every mechatronic system (MS) has one or more resonances. Due to the modeling of such a system, two different challenges regarding oscillations has to be solved by control. Namely the ”transient”-effects as well as the ”semi-stead-state”-effects arise oscillations. We would like to introduce a new feedforward method where undesirable oscillations can be reduced. Beside simulation results also results from our experimental setup due to acceleration measurements are discussed in the following.