Research on the method of modeling and parameter identification method of precision harmonic drive component

摘要

In this paper, a mathematical model and its parameter identification scheme are proposed for harmonic drive components. First, the dynamic model of the harmonic drive is built based on the dynamic model of the direct drive system, and the main factors affecting the dynamic characteristics are analyzed. Second, we propose the experimental method of identifying the motor parameters, friction torque, transmission backlash and the load. Lastly, a simulation analysis and experimental test was conducted. The results of the simulation and experiment indicated that the parameter identification method could acquire the values accurately. The error of current response is less than 8% and the error of velocity response is less than 20% in the time domain. The frequency characteristic has a good consistency on the low frequency band, while more differences between the simulation and the experiment test exist on the other band. The results are discussed at the end of the paper.