Title :
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.
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;
Conference_Titel :
Intelligent Engineering Systems, 2006. INES '06. Proceedings. International Conference on
Conference_Location :
London
Print_ISBN :
0-7803-9708-8
DOI :
10.1109/INES.2006.1689348
