METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR OF AN ACTUATOR

摘要

The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (thetaHys) is added to a motor-shaft angle command (theta*M) as a compensation input (Ntheta*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (thetaHys) can be effectively reduced, and the positioning precision of the actuator can be improved.