A method for performing an adaptive friction compensation, in an actuator, which is connected to a change of temperature variation of the friction properties of a harmonic drive is taken into account

摘要

In a method for performing an adaptive friction compensation of an actuator (2) with a harmonic drive (1), as a friction compensation current, which on a motor drive current is applied, a current i_s to compensate for static friction is used, if a motor shaft (6) with a deviation of stops, and under other circumstances, a the coulomb - friction - compensation current i.sub.comp_c. used. The current i_s to compensate for static friction, by adding a compensation quantity i_sr a monotonically rising ramp function to a compensation quantity i_ss a staircase function is obtained, and a stages function compensation value i_cs as is the coulomb friction - - compensation current i.sub.comp_c. used. Since the size of the friction compensation during the reaction on the positioning control adaptively on the basis of the measured data can be changed, the motor shaft (6) at the target angle, without any appreciable accompanying vibration is to be stabilized, even if the frictional properties of the harmonic drive (1) as a result of fluctuations of the ambient temperature change.