谐波齿轮传动误差的补偿控制

由于谐波系统中存在传动误差，结果会使机构无法准确执行预定的传动。为了对谐波齿轮系统的传动误差进行补偿，本文首先对谐波齿轮传动系统进行分析，综合考虑谐波齿轮啮合摩擦、扭转刚度、侧隙、传动误差等多种非线性因素，根据谐波齿轮传动系统的力学模型，建立系统非线性动力学微分方程。采用PID控制器对系统进行控制，为补偿误差根据传递函数建立了控制系统方框图。最后通过比较PID控制前后的仿真误差，证明了PID控制对误差补偿的有效性。

The Compensation Controlling of Harmonic Gear Transmission Error

Due to transmission error of harmonic system, the result is that agencies cannot accurately perform sched uled transmission. In order to compensate transmission error of harmonic gear system, firstly, this article analyzes the har monic gear transmission system. And,according to the mechanics model of the harmonic gear transmission system, the sys tem onlinear dynamics differential equations are established, considering the harmonic gear friction, toional stiffness, backlash, transmission errors, and other nonlinear factors. Secondly, PID controller is used to control the system. In or der to compensate for the error, block diagram of the control system is established, based on the transfer function. Final ly, by comparing the sinmlation error before and after PID controlling, PID controlling is proved validity for the error comensation.