发明名称 |
Method for controlling positioning of actuator comprising wave gear device |
摘要 |
A method for controlling positioning of an actuator having a wave gear device uses an exact linearization technique to compensate effects relative to positioning control of a load shaft caused by the non-linear spring characteristics of the wave gear device. A plant model is constructed from the actuator, and linearized using the exact linearization technique; measurements are taken of non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model taug(thetatw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the model and motor position of the model when a load acceleration command is a command value are entered into a processor arranged as a semi-closed loop control system for controlling positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command. |
申请公布号 |
US8427094(B2) |
申请公布日期 |
2013.04.23 |
申请号 |
US201113080756 |
申请日期 |
2011.04.06 |
申请人 |
OKITSU YOSHIFUMI;KATO YUKI;SASAKI KOZO;IWASAKI MAKOTO;HARMONIC DRIVE SYSTEMS, INC.;NATIONAL UNIVERSITY CORPORATION NAGOYA INSTITUTE OF TECHNOLOGY |
发明人 |
OKITSU YOSHIFUMI;KATO YUKI;SASAKI KOZO;IWASAKI MAKOTO |
分类号 |
G05D23/275 |
主分类号 |
G05D23/275 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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