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Published December 2013 | public
Journal Article

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.

Additional Information

© Springer-Verlag Berlin Heidelberg 2012. Received: 12 March 2009 / Accepted: 1 November 2012 / Published online: 21 November 2012. The authors would like to thank German Aerospace Center for the use of its facilities. This work was partially supported by the National Science Council of ROC under grant number NSC 98-2221-E-003-008-MY2. The supports from N. Sporer and M. Haehnle are also gratefully acknowledged.

Additional details

Created:
August 22, 2023
Modified:
October 25, 2023