| This research is funded by the project from National Natural Science Foundation of China ―Application basic research of high reliable and high precision filtering gear drive unit for industrial robots‖(Project Grant No.51375506). With the rapid development of industrial robots,it has a higher requirement for transmission reliability and accuracy of gear reducer. For require performance of industrial robots and outsdanding problems of conventional retarder, Professor Wang Jiaxu, from Chongqing University,has invented a highly reliable,lightweight and high precision planet reducer with fewer tooth difference rubber which called ―Flexible filter drive mechanism‖. The structure of flexible filter drive mechanism is more complicated than the common driving mechanism, and nonlinear factors such as friction and elastic deformation larger influence on the system’s control precision, it greatly affects the transmission performance of the system. This paper Based on gear drive mechanism as the research object, and Considering the influence of friction on the system. By establishing dynamics model, proposing the control scheme and designing the reasonable controller, to compensate for the influence of nonlinear friction on the system, and improve the drive control performance of system. The main contents of this thesis are as follows:①The article made a comprehensive overview of several friction models, and introduced the common friction compensation methods. Comparison of several friction models, we obtained the respective advantages and disadvantages of static friction and dynamic friction model. According to different mechanical system, considering the conditions of using and various aspects requirements such as the sensitivity, we determine the corresponding standard of the choicing model. Behind the friction model for the selection of standard research provides the theoretical basis and support. The Standard of selecting friction model provides the theoretical basis and support for the research behind.②Under the condition of considering the friction, setting up a dynamic model of gear drive mechanism; Through the system’s speed- torque experiment getting the Stribeck curve of control system; acquiring the dynamic and static parameters of Lu Gre friction model by off-line parameter identification of friction model; then proposed feedforward compensation control scheme based on Lu Gre friction model, and designed the feed channel and controller according to the principles of the friction torque balance. Using Matlab simulation, we acquired system’s location tracking and speed tracking of without compensation and compensation.③For the nonlinear friction that existed in gear drive mechanism, putting up an adaptive friction compensation based on Lu Gre friction model. By introducing double nonlinear filter and adjusting its gain to improve the position of the tracking performance of the system, and Using Matlab simulation to prove the compensation scheme and controller design’s correctness.④Without deducting the internal friction, and loading 10 N.m case, using a versatile friction test bench tested filtering gear to obtain the system’s speed and torque in speed 1r / min ~ 1900 r / min within the range of spindle 1, Obtaining gear drive mechanism’s speed- torque curve by data conversion and date fitting. |
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