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Position control device for actuator provided with wave gear device by fully closed control with state observer
Position control device for actuator provided with wave gear device by fully closed control with state observer
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机译：通过状态观察器进行全闭环控制的带有波动齿轮装置的致动器的位置控制装置
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摘要
The positioning control device calculates the actual load axis position (l), The load axis which is the output shaft of the wave gear device moves to the target position (*l), A state feedback control system in which a state observer (Observer) is used in combination is provided as a fully closed control system that drives and controls the motor so as to be positioned. The state observer inputs the control input (iref), Load axis position (l), The motor shaft position and the motor speed are estimated. In the state feedback control system, the load axis position (l), The state quantity of the controlled object is fed back using the estimated motor shaft position by the state observer and the estimated motor speed. It is possible to suppress the resonance vibration caused by the angular transmission error of the wave gear device and to perform highly accurate positioning.
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机译：定位控制装置计算出实际的负载轴位置（ l ），作为波动齿轮装置的输出轴的负载轴移动到目标位置（ * 1 ），将状态观察器（Observer）组合使用的状态反馈控制系统作为驱动和控制电机以进行定位的全封闭控制系统提供。状态观察器输入控制输入（i ref ），负载轴位置（ l ），估算电机轴位置和电机速度。在状态反馈控制系统中，负载轴位置（ l ），状态观察器使用估计的电机轴位置和估计的电机速度来反馈受控对象的状态量。可以抑制由波动齿轮装置的角传递误差引起的共振振动，并且可以进行高精度的定位。
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