Modelling and control of cam-controlled planetary gear trains

摘要

This work aims to perform the modelling and the motion control of cam-controlled planetary gear trains, such that their output motions can be fairly agreed with the required. First, the semi-closed-loop control is employed as the system architecture. Then the transfer functions of the motor with and without loading are established. Moreover, the phase lead compensation controller is designed. Finally, to verify the feasibility and the effectiveness, the approaches of control simulation by Simulink software and experiment setup are presented and conducted. The results show that the designed phase lead controller can effectively improve the problem of phase lag occurring during the arising stage of the output. In addition, the tracking error is significantly reduced.