Journal of Power Electronics

The Korean Institute of Power Electronics (전력전자학회)
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Full closed loop-based dynamic accuracy enhancement for elastic joints

  • Liu, Haitao (Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University) ;
  • Wang, Yan (Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University) ;
  • Shan, Xianlei (Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University)
  • Received : 2021.10.04
  • Accepted : 2022.03.06
  • Published : 2022.06.20
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Abstract

Owing to the elasticity of transmission systems, actuated joints suffer from dynamic errors that seriously affect the tracking accuracy. Mainly drawing on the full closed loop control strategy, this paper focuses on the dynamic accuracy enhancement of elastic joints. Having proposed a simplified dynamic error modelling method for elastic joints with cascade control, an analytical dynamic error model of the servo drive system is built, allowing the revelation of the influence mechanisms of semi- and full closed loop control schemes on dynamic errors. The dynamic error model indicates that a full closed loop control scheme with a large position loop gain can effectively reduce the elasticity-caused dynamic error. To overcome the strict limitation on the position loop gain of traditional full closed loop control, an additional speed feedback is used to improve the dynamic error reduction capability. Experimental results show that the dynamic error can be dramatically reduced, resulting in a remarkable improvement of tracking accuracy of elastic joints.

Keywords

Acknowledgement

The paper is partially supported by the National Natural Science Foundation of China (Grant Number 51805361), the Natural Science Foundation of Tianjin (Grant Number 18JCQNJC04900), the State Key Laboratory of Robotics and System (HIT) (Grant Number SKLRS-2018-KF-09), and the China Postdoctoral Science Foundation (Grant Number 2018M640233).

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