第7期
第22卷 2014年7月
文章编号
1004-924X(2014)07-1842-09
光学精密工程
Optics and Precision Engineering
精密谐波传动系统建模黑沫”，范世，廖洪波，周擎坤，范大鹏
（国防科技大学机电工程与自动化学院，湖南长沙410072）
Vol. 22No.7
Jul.2014
摘要：针对谱波传动系统的控制方法与性能预测问题，本文考虑影响请波传动系统性能的主要因素，提出了一种精密谢波传动系统建模方法。建立了整个谐波传动系统的动力学模型和Simlink仿真模型，给出了仿真模型中各参数的获取方法。针对模型中难于准确测得的参数，提出了一种最小二乘辨识方法。对谐波传动系统的仿真模型进行了时频域仿真分析与实验验证，结果表明：建立的谐波传动系统模型各参数具有明确物理意义，便于工程应用；建模时仅利用一次扫频即可得到所有未知参数的估计值，提高了参数获取的效率，降低了成本；仿真模型与实际系统时频域特性基本一致，所有
结果匹配度超过70%。得到的结果验证了该建模方法的正确性。关键词：请波传动；动力学建模；参数辨识；最小二来法
中图分类号：TH132.43
文献标识码：A
doi; 10, 3788/OPE, 20142207. 1842
Modelingofprecisionharmonicdrivesystem
HEI Mo',FAN Shi-xun,LIAOHong-bo,ZHOU Qing-kun,FAN Da-peng
(CollegeofMechatronicEngineering&Automation，
National Uniuersity of Defense Technology,Changsha 410072,China)
+Correspondingauthor,E-mail:heimo_pla@163.com
Abstract: In consideration of the control method and performance prediction of harmonic drive systems, a modeling method of precision harmonic drive system was proposed according to the main factors effecting the performance of harmonic drive system.A dynamics model and a Simlink simulation model of harmonic drive system were established, and an method to obtain the simulation model parameters was researched. A least square identification method was presented to identify the parameters which are difficult to be accurately measured in the model. The time-frequency domain simulation analyses and experimental verification were performed. Simulation and experimental results show that the model parameters of the harmonic drive system have clear physical meaning and are convenient for engineering application. When the model is established, one frequency sweep only can estimate the unknown parameters, improve the efficiency of parameter acquisition and reduce the cost. Moreover, the experimental results are basically consistent with that of the simulation one and the matching degree of the results is greater than 7o%. These data verify the correctness of the modeling method.
Key words: harmonic drive;dynamics modeling:parameter identification;least square method
收稿日期：2013-12-15；修订日期：2014-01-23，
基金项目：国家自然科学基金重点项目（No,51135009）