为降低谐波传动中柔性齿轮给系统造成的低刚度和非线性死区的问题, 本文提出了一种基于双速度环的位置控制方法, 以电机端的速度环作为内环, 以负载端的速度环作为外环。从理论上分析了双速度环优于单速度环时, 电机端速度环满足的条件。此外对单双速度环对系统的影响进行了仿真分析, 结果表明双速度环对抑制系统中的非线性死区有很好的效果。最后实验结果也验证了双速度环对于克服系统中的非线性扰动, 提高系统的鲁棒性和精度有着很好的作用。

For reducing the effect of flexibility, backlash and friction, which are brought by the harmonic gear, a kind of multiple loops’ control method is proposed based on double speed loops. Double speed loops consist of speed loop in motor side and speed loop in load side. The speed loop in motor side is the inner loop and the speed loop in load side is the outer loop. The paper separately analyses the control performance of single speed loop and double speed loops in theory. Finally, the experiment results are used to validate the effectiveness of the control method based on double speed loops for inhibiting the nonlinear deadzone in the harmonic drive system.