Title :
Discontinuous control for harmonic drive system with the damping enhancement of acceleration feedback
Author :
Han, J.D. ; Qiu, Z.C. ; Wang, Y.C. ; Xu, W.L.
Author_Institution :
Robotics Lab., Acad. Sinica, Shenyang, China
Abstract :
This paper presents an event-based discontinuous control scheme for harmonic drive transmission. It combines motor-level PD control refined by load-level acceleration feedback and output torque control. Switching between these two control strategies is based on the external condition of HD. This intends to generate appropriate control actions according to the critical problems of HD, which are different and closely dependent on its external conditions. Extensive experiments are conducted on a single link device driven by an AC motor and harmonic transmission to test the effectiveness of the proposed scheme.
Keywords :
AC motor drives; damping; feedback; machine control; sampled data systems; torque control; two-term control; AC motor; control actions; damping enhancement; event-based discontinuous control scheme; external condition; harmonic drive transmission; load-level acceleration feedback; motor-level PD control; output torque control; single link device; AC motors; Acceleration; Control systems; Damping; Drives; High definition video; Output feedback; PD control; Testing; Torque control;
Conference_Titel :
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location :
Edmonton, Alberta, Canada
Print_ISBN :
0-7803-5579-2
DOI :
10.1109/CCECE.1999.808101
