公开(公告)号：US20180246489A1

公开(公告)日：2018-08-30

申请号：US15553835

申请日：2016-09-27

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  NAGOYA INSTITUTE OF TECHNOLOGY

Inventor： Masafumi YAMAMOTO ,  Yoshifumi OKITSU ,  Makoto IWASAKI

IPC: G05B19/19

CPC classification number: G05B19/19 ,  F16H1/32 ,  F16H49/001 ,  G05B11/36 ,  G05B2219/42005 ,  G05D3/12

Abstract: A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.

公开(公告)号：US20180239327A1

公开(公告)日：2018-08-23

申请号：US15553759

申请日：2016-09-27

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  NAGOYA INSTITUTE OF TECHNOLOGY

Inventor： Masafumi YAMAMOTO ,  Yoshifumi OKITSU ,  Makoto IWASAKI

IPC: G05B19/19

CPC classification number: G05B19/19 ,  F16H49/001 ,  G05B2219/42005

Abstract: A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H∞ compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H∞ norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.