Method for determining and compensating for periodically occurring interference torques in a harmonic drive mechanism subordinate to a drive motor uses a torque sensor to measure torque faults

摘要

Torque faults occurring periodically on a power take-off side are measured along a relevant trajectory by means of a torque sensor on the power take-off side and recorded as torque fault signals dependent on the function of each up-to-the-minute engine position. The recorded fault signals are subjected to an analysis of Fourier coefficients to calculate interference at the driving end. Compensation is calculate and added to a required engine torque. Newly calculated engine compensating torque is added to earlier compensating torque. An iteration is broken off as soon as a torque fault reaches or falls below a preset threshold levels.