Variable-Structure Disturbance Observers for Harmonic Drive Actuators

Yu-Sheng Lu, Chi-Sheng Hwang
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Abstract

This paper presents the design of a high-order variable-structure disturbance observer (VSDO) that yields asymptotic estimation of unknown disturbances described by polynomial functions of time with arbitrary degrees. In comparison with conventional VSDO, the high-order VSDO requires a small switching gain for ensuring the existence of a sliding mode, thus diminishing the chattering phenomenon further. Two high-order VSDOs were implemented to simultaneously observing the motor-side and the load-side disturbances in a harmonic drive actuator. Experimental results show that the compensation provided by the high-order VSDOs effectively deals with the disturbances due to harmonic drive gearing.
谐波驱动执行器的变结构扰动观测器
本文设计了一种高阶变结构扰动观测器(VSDO),该观测器可以对任意程度的多项式时间函数描述的未知扰动进行渐近估计。与传统的VSDO相比,高阶VSDO需要较小的开关增益以保证滑模的存在,从而进一步减小抖振现象。为了同时观测谐波驱动执行器中电机侧和负载侧的扰动,采用了两个高阶vdos。实验结果表明,高阶vsdo补偿能有效地抑制谐波传动扰动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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