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

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. Based on the research above, the high precision and high dynamic response low speed servo control based on harmonic drive will be realized, which will lay a foundation of the application of harmonic drive in low speed servo system.

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。

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伺服系统等系统上有着重要的应用背景，而谐波减速器的非线性传动特性影响系统角速率精度的问题成为制约其进一步推广应用的主要障碍。本项目从研究谐波减速器的传动机理出发，在动力学建模的基础上，分析了能够反映谐波减速器传动特性的三个主要因素：运动误差、非线性摩擦和非线性扭转刚度。在此基础上基于Preisach理论建立了谐波减速器输出力矩迟滞特性的模型。进一步为提高基于谐波减速器低速速率伺服系统的鲁棒性和精度，提出了一种基于backstepping的鲁棒自适应扰动抑制方法，对带有谐波减速器的框架伺服系统研究发现谐波减速器的非线性传动特性引入的扰动是一种不匹配扰动，为有效抑制该扰动在输出通道上的影响，提出一种基于干扰观测器的扰动补偿控制器设计方法。为验证所提出模型的正确性和控制方法的有效性，专门研制了基于谐波减速器的低速速率伺服控制平台，对所提出的基于Preisach的谐波减速器迟滞模型及控制方法进行了实验验证。