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Research on nonlinear friction compensation of harmonic drive in gimbal servo-system of DGCMG

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Abstract

The purpose of this paper is to present our results in overcoming the influence of the nonlinear friction afforded by harmonic drive to the gimbal servo-system of double-gimbal control momentum gyro (DGCMG). The existence of compliance and oscillation inherent in harmonic drive systems, and the lack of any technical information on the internal dynamics of the transmission, make the development of friction compensation in harmonic drive system extremely challenging. In this paper, the modeling of nonlinear friction in harmonic drive gear transmission in gimbal servo-system of the DGCMG is proposed. The relationship among the nonlinear friction, the angular velocity and the angular position with an improved Coulomb-Viscous model is derived, and the experiments to identify the various parameters of the improved model are given. At last a feed-forward compensation controller based on the improved model is designed to carry out the friction compensation study.

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Author information

Authors and Affiliations

  1. Science and Technology on Inertial Laboratory, Beihang University, Xueyuan Road No.37, Beijing, 100191, China

    Bangcheng Han

  2. Beijing Research Institute of Telemetry, Beijing, 110106, China

    Jijun Ma

  3. Science and Technology on Inertial Laboratory, Beihang University, Xueyuan Road NO.37, Beijing, 100191, China

    Haitao Li

Authors
  1. Bangcheng Han
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  2. Jijun Ma
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  3. Haitao Li
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Corresponding author

Correspondence to Haitao Li.

Additional information

Recommended by Associate Editor Hongbo Li under the direction of Editor Myotaeg Lim. This work is supported by the National Major Project for the Development and Application of Scientific Instrument Equipment of China under Grant 2012YQ040235.

Bangcheng Han received his Ph.D. degree from Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China, in 2004. In 2006, he joined Beijing University of Aeronautics and Astronautics, where he is currently a Professor. His research interests include mechatronics, magnetic suspension technology, and attitude control actuator of spacecraft.

Jijun Ma was borm in November 1986. He received his M.S. degree from Beihang University, Beijing, China, in 2011. In 2011, he joined Beijing Research Institute of Telemetry, where he is currently an engineer. His research interests include electromechanical Control, telemetry and telecontrol.

Haitao Li received his Ph.D. degree from Beijing University of Aeronautics and Astronautics, Beijing, China, in 2009. He is currently a Research Member at Beijing University of Aeronautics and Astronautics, China. His research interests include magnetically suspended control moment gyro and servo-system control.

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Han, B., Ma, J. & Li, H. Research on nonlinear friction compensation of harmonic drive in gimbal servo-system of DGCMG. Int. J. Control Autom. Syst. 14, 779–786 (2016). https://doi.org/10.1007/s12555-014-0430-8

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  • DOI: https://doi.org/10.1007/s12555-014-0430-8

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