English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

. Hysteresis behavior widely exists in the transmission process of harmonicdrives. Eliminating the hysteresis effect is highly desired in thehigh-precision mechanical transmission, which results in challenges in thecontrol design. This paper aims to improve the tracking accuracy of themotor-harmonic drive serial system. Firstly, a modified Bouc-Wen model basedon uniform smooth approximating function is applied to describe thehysteresis behavior of the harmonic drive. By using coordinatetransformation and accurate state feedback linearization, we then obtain themathematical model of the serial system of the motor-harmonic drive.Finally, the reference trajectory is tracked by a compound optimalcontroller that is based on a linear quadratic regulator. Simulation resultsshow that compared with the disturbance observer-based control (DOBC) usinga linear observer, the new compound optimal controller in this paperpresents a smoother control signal with the elimination of large amount ofhigh-frequency oscillations. Furthermore, the relative error in the steadystate tracking tends to approach to zero and no cyclic fluctuations appears.With the employing of optimal control, the output of the harmonic drive cantrace more complex trajectory.

Compound optimal control of harmonic drive considering hysteresis characteristic