A torque-ripple compensation scheme for harmonic drive systems

Yu Sheng Lu; Shuan Min Lin; Markus Hauschild; Gerd Hirzinger

doi:10.1007/s00202-012-0264-4

A torque-ripple compensation scheme for harmonic drive systems

Yu Sheng Lu^*, Shuan Min Lin, Markus Hauschild, Gerd Hirzinger

^*Corresponding author for this work

Department of Mechatronic Engineering

Research output: Contribution to journal › Article › peer-review

24 Citations (Scopus)

Abstract

This paper presents a scheme for controlling the output torque of a harmonic drive actuator equipped with a torque sensor. The proposed control is composed of a feedback control and a feedforward learning control, in which the feedback control shapes nominal system dynamics using the internal model control structure. The feedforward learning controller employs a disturbance observer (DOB) to evaluate compensation error of the feedforward control for the learning, so as to compensate for torque ripples induced by harmonic drives. Robust stability conditions of the proposed DOB-based learning control system are provided. Experimental results show the effectiveness of the proposed scheme in alleviating the major component of torque ripples whose frequency is twice the angular frequency of the input shaft.

Original language	English
Pages (from-to)	357-365
Number of pages	9
Journal	Electrical Engineering
Volume	95
Issue number	4
DOIs	https://doi.org/10.1007/s00202-012-0264-4
Publication status	Published - 2013 Dec

Keywords

Disturbance observer
Harmonic drive actuator
Repetitive learning control
Torque control
Torque ripple

ASJC Scopus subject areas

Electrical and Electronic Engineering
Applied Mathematics

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10.1007/s00202-012-0264-4

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title = "A torque-ripple compensation scheme for harmonic drive systems",

abstract = "This paper presents a scheme for controlling the output torque of a harmonic drive actuator equipped with a torque sensor. The proposed control is composed of a feedback control and a feedforward learning control, in which the feedback control shapes nominal system dynamics using the internal model control structure. The feedforward learning controller employs a disturbance observer (DOB) to evaluate compensation error of the feedforward control for the learning, so as to compensate for torque ripples induced by harmonic drives. Robust stability conditions of the proposed DOB-based learning control system are provided. Experimental results show the effectiveness of the proposed scheme in alleviating the major component of torque ripples whose frequency is twice the angular frequency of the input shaft.",

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AU - Lu, Yu Sheng

AU - Lin, Shuan Min

AU - Hauschild, Markus

AU - Hirzinger, Gerd

PY - 2013/12

Y1 - 2013/12

N2 - This paper presents a scheme for controlling the output torque of a harmonic drive actuator equipped with a torque sensor. The proposed control is composed of a feedback control and a feedforward learning control, in which the feedback control shapes nominal system dynamics using the internal model control structure. The feedforward learning controller employs a disturbance observer (DOB) to evaluate compensation error of the feedforward control for the learning, so as to compensate for torque ripples induced by harmonic drives. Robust stability conditions of the proposed DOB-based learning control system are provided. Experimental results show the effectiveness of the proposed scheme in alleviating the major component of torque ripples whose frequency is twice the angular frequency of the input shaft.

AB - This paper presents a scheme for controlling the output torque of a harmonic drive actuator equipped with a torque sensor. The proposed control is composed of a feedback control and a feedforward learning control, in which the feedback control shapes nominal system dynamics using the internal model control structure. The feedforward learning controller employs a disturbance observer (DOB) to evaluate compensation error of the feedforward control for the learning, so as to compensate for torque ripples induced by harmonic drives. Robust stability conditions of the proposed DOB-based learning control system are provided. Experimental results show the effectiveness of the proposed scheme in alleviating the major component of torque ripples whose frequency is twice the angular frequency of the input shaft.

KW - Disturbance observer

KW - Harmonic drive actuator

KW - Repetitive learning control

KW - Torque control

KW - Torque ripple

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A torque-ripple compensation scheme for harmonic drive systems

Abstract

Keywords

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