Researching | Speed fluctuation suppression of the gimbal system with harmonic drive

Optics and Precision Engineering, Volume. 30, Issue 20, 2457(2022)

Speed fluctuation suppression of the gimbal system with harmonic drive

Xiangwen CHEN1...2 and Haitao LI23,* |Show fewer author(s)

Author Affiliations

¹School of Instrumentation Science and Optoelectronics Engineering， Beihang University，Beijing009， China

²Ningbo Institute of Technology， Beihang University， Ningbo315800， China

³Research Institute for Frontier Science， Beihang University， Beijing100191， China

show less

Abstract Get PDF(in Chinese)

Figures&Tables (10)

References (25)

Paper Information

Figures & Tables(10)

Fig. 1. Spectrum of motion error in position domain

Download full size

View in Article

Fig. 2. Block diagram of iterative learning control

Download full size

View in Article

Fig. 3. Block diagram of gimbal system based on iterative learning feedforward control

Download full size

View in Article

Fig. 4. Compensation signal under different iteration times

Download full size

View in Article

Fig. 5. Load speed fluctuation under different iteration times

Download full size

View in Article

Fig. 6. Compensation signal under different iteration times with noise

Download full size

View in Article

Fig. 7. Experimental platform based on single gimbal magnetic levitation control moment gyro

Download full size

View in Article

Fig. 8. Speed before and after compensation at constant speed

Download full size

View in Article

Fig. 9. Sinusoidal tracking speed curve and tracking error

Download full size

View in Article

Table 1. Main parameters of intermediate drive gimbal system

View in Article

Table 1. Main parameters of intermediate drive gimbal system

参数	参考值	参数	参考值
反馈增益 $Γ$	3	减速比 $N$	100
学习增益 $Φ$	11	极对数 $P$	8
遗忘因子 $α$	0.01	电感 $L$	0.017 15 H
速度环比例环节 $K_{p}^{ω}$	5	电机绕组电阻 $R$	3.2 Ω
速度环积分环节 $K_{i}^{ω}$	0.08	电机力矩系数 $K_{m}$	0.6
电流环比例环节 $K_{p}^{i}$	7	电机转动惯量 $J_{m}$	0.001 1 kg·m²
电流环积分环节 $K_{i}^{i}$	0.03	负载转动惯量 $J_{l}$	0.278 kg·m²
谐波减速器扭转刚度 $K_{h}$	3×10⁴ N·m·rad^-1	负载阻尼 $B_{l}$	0.8 N·m·s·rad^-1
电机阻尼 $B_{m}$	0.01 N·m·s·rad^-1

Tools

Get Citation

Copy Citation Text

Xiangwen CHEN, Haitao LI. Speed fluctuation suppression of the gimbal system with harmonic drive[J]. Optics and Precision Engineering, 2022, 30(20): 2457

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Micro/Nano Technology and Fine Mechanics

Received: Jun. 6, 2022

Accepted: --

Published Online: Oct. 27, 2022

The Author Email: LI Haitao (haitao@buaa.edu.cn)

DOI:10.37188/OPE.20223020.2457

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology