Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 10, issue 2
Articles | Volume 10, issue 2
https://doi.org/10.5194/ms-10-383-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-10-383-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 10, issue 2
Research article
 | 
22 Jul 2019
Research article |  | 22 Jul 2019

Compound optimal control of harmonic drive considering hysteresis characteristic

Quan Lu, Tieqiang Gang, Guangbo Hao, and Lijie Chen

Viewed

Total article views: 2,607 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
2,260 321 26 2,607 36 47
  • HTML: 2,260
  • PDF: 321
  • XML: 26
  • Total: 2,607
  • BibTeX: 36
  • EndNote: 47
Views and downloads (calculated since 22 Jul 2019)
Cumulative views and downloads (calculated since 22 Jul 2019)

Viewed (geographical distribution)

Total article views: 2,204 (including HTML, PDF, and XML) Thereof 2,088 with geography defined and 116 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 

Cited

Latest update: 19 Apr 2024
Download
Short summary
Eliminating the hysteresis effect is highly desired in harmonic drive, which results in challenges in the control design. In this paper, we construct a new compound optimal controller to improve the compensational effect of hysteresis torque. The new controller is proposed based on the optimal theory and the linearization of nonlinear system. Numerical simulation shows that this new controller can track the complex reference trajectory with a relative error less than 1%.
Read more