Event-based discontinuous control for harmonic drive system with the damping enhancement of acceleration feedback

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 沈阳自动化所知识产出(2000年前)

	Event-based discontinuous control for harmonic drive system with the damping enhancement of acceleration feedback
	Han JD(韩建达); Qiu ZC(邱志成); Wang YC(王越超)
	2000
会议名称	3rd World Congress on Intelligent Control and Automation
会议日期	June 28 - July 2, 2000
会议地点	HEFEI, China
页码	1356-1360
中文摘要	This paper presents an event-based discontinuous control scheme for harmonic drive transmission. It is composed of two control strategies, namely, the motor-side PD control refined by load-side acceleration feedback, and the output torque control. Switching between these two modes is based on the external working condition of HD. This intends to generate appropriate control actions according to the actual problems of HD, which are different and closely dependent on its external conditions. Extensive experiments are conducted on a single link device driven by AC motor and harmonic transmission to test the performance of the proposed scheme.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Univ Sci & Technol China, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Anhui Assoc Sci & Technol, Minist Educ, Natl Nat Sci Fdn China, Chinese Acad Sci, Intelligent Robot Subject Natl High Tech R&D (863) Program, State Adm Foreign Experts Affairs, China Int Ctr Econom & Techn Exchanges, Unit Nat Dev Programme, Anhui Provincial Peoples Gov, Anhui Sci & Technol Dept, Natl Key Lab Ind Control Technol
会议录	PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	7-312-01203-5
WOS记录号	WOS:000166937900303
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7759]
专题	沈阳自动化研究所_沈阳自动化所知识产出(2000年前)
推荐引用方式 GB/T 7714	Han JD,Qiu ZC,Wang YC. Event-based discontinuous control for harmonic drive system with the damping enhancement of acceleration feedback[C]. 见:3rd World Congress on Intelligent Control and Automation. HEFEI, China. June 28 - July 2, 2000.