多源扰动下基于谐波减速器的高精度低速速率伺服控制研究

项目名称： 多源扰动下基于谐波减速器的高精度低速速率伺服控制研究

项目编号： No.61203112

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 李海涛

作者单位： 北京航空航天大学

项目金额： 23万元

中文摘要： 摘要：基于谐波减速器的低速速率伺服系统在控制力矩陀螺框架系统上有重要的应用前景，但非线性多源扰动下的高精度低速速率控制问题迄今未有效解决，影响了基于谐波减速器的速率伺服系统的进一步推广。本项目针对具有非线性传动特性、负载非线性变化的低速速率伺服系统，立足动力学机理分析，研究自主的高精度速率控制方法：（1）分析谐波减速器的非线性传动特性及机理，建立非线性多源扰动下基于谐波减速机构的速率伺服系统的动力学模型。（2）研究谐波减速器的非线性扭转力矩的在线辨识方法。（3）研究非线性、参数不确定性及多源扰动综合作用下的基于谐波减速器的低速速率伺服系统高精度高动态鲁棒控制问题。（4）对参数辨识、高精度高动态鲁棒控制算法进行针对性的实验验证。通过上述研究，实现非线性多源扰动下基于谐波减速器的低速速率伺服系统的高精度速率控制，为基于谐波减速器的低速速率伺服系统的推广应用提供技术基础。

中文关键词： 速率伺服系统；多源扰动；非线性控制；谐波减速器；不匹配扰动

英文摘要： abstract：Low speed servo system based on harmonic drive has significant promise application of gimbal system in control moment gyroscopic (CMG). However, the high precision speed control problem for low speed system with nonlinear multi-source disturbance has not been effectively solved, which influences the further application of harmonic drive. This project focuses on the independent high precision speed control algorithm based on the analysis of dynamic mechanism used in the low speed servo system with nonlinear transfer motion characteristic and nonlinear load variation. (1) The nonlinear transfer motion characteristic and its mechanism of harmonic drive will be analyzed. The dynamic model of speed servo control system based on harmonic drive with nonlinear muti-source disturbance will be established. (2) The method of online parameter identification of nonlinear torsional moment in harmonic drive will be studied. (3) The high precision and high dynamic response robust control method based on the integrated effect of nonlinearity, parameter uncertainty and multi-source disturbance used in speed servo control system with harmonic drive will be researched. (4) The experiment will be carried out to verify the parameter identification and the high precision and high dynamic response robust control algorithm. Bas

英文关键词： speed servo system；muti-source disturbance；nonlinear control；harmonic drive；mismatched disturbance