多源干扰下谐波齿轮传动强抗扰控制

Enhanced anti-disturbance control for harmonic drive systems subject to multiple disturbances

中文关键词  谐波齿轮传动  多源干扰  干扰观测器  扩张状态观测器  迟滞

英文关键词  harmonic drive  multiple disturbances  disturbance observer  extended state observer  hysteresis

中文摘要

      谐波齿轮传动系统能调节转速和扭矩, 但因具有传动误差、挠性刚度、摩擦和迟滞等多源干扰, 理想地将 其等效为比例环节, 难以在精密运动控制中达到期望精度. 针对多源干扰下谐波齿轮传动系统精细角位置控制问 题, 本文设计了一种将干扰观测器(DO)和扩张状态观测器(ESO)相结合的强抗扰控制(EADC)策略, 其中DO用于估 计已知部分动态特性的迟滞干扰, ESO用于估计除迟滞之外的总扰动. 通过“前馈+反馈”的复合控制结构, 实现了 对多源干扰的同时补偿和抑制, 从而保证谐波齿轮传动系统精度. 本文分析了DO和ESO的收敛性、闭环系统的稳定 性, 对比了摩擦前馈补偿控制、自抗扰控制、基于干扰观测器控制和EADC方法的跟随和抗扰性能, 数值仿真结果 表明, EADC优于其他3种控制, 验证了算法的有效性.

英文摘要

      Harmonic drive systems can regulate the speed and torque. However, due to multiple disturbances such as kinematic errors, flexible stiffness, friction and hysteresis, it is difficult to achieve desired accuracy in precision motion control by ideally treating the harmonic drive system as a proportional link. For the problem of refined angular position control of harmonic drive systems under multiple disturbances, an enhanced anti-disturbance control (EADC) method combining the disturbance observer (DO) and the extended state observer (ESO) is proposed. The DO is used to estimate the hysteresis with partially known dynamics and the ESO is used to estimate the total disturbances except hysteresis. Through the composite control structure of “feedforward + feedback”, the simultaneous compensation and suppression of multiple disturbances can be achieved, ensuring the accuracy of the harmonic drive system. The convergence of the DO and the ESO, and the stability of the closed-loop system are analyzed. The reference tracking and disturbances rejection performances of the friction feedforward compensation control, active disturbance rejection control, disturbance observer based control, and the EADC method are compared via numerical simulation. The results show that EADC is superior to the other three control schemes, which verifies the effectiveness of the proposed method.