Output revolution of the adaptive friction compensation method motor of the actuator which considers the friction quality fluctuation which accompanies the temperature variation

摘要

PROBLEM TO BE SOLVED: To propose the adaptive friction compensation method of an actuator capable of achieving the improvement of control performance under the friction characteristic variation of a wave motion gear reducer accompanied by temperature change without using a temperature sensor.;SOLUTION: In the adaptive friction compensation method of an actuator 2 equipped with a wave motion gear reducer 1, when a motor shaft 6 stands still with a deviation, static friction compensation currents is are adopted as friction compensation currents to be applied to motor driving currents, and clone friction compensation currents ic are adopted otherwise. The static friction compensation currents is are obtained by adding compensation quantity isr of a monotonically increasing ramp function to compensation quantity iss of a step function, and the compensation quantity ics of the step function is used as clone friction compensation currents ic. Thus, it is possible to adaptively change friction compensation quantity based on data in the response of positioning control. Therefore, it is possible to set the motor shaft 6 at a target angle without being accompanied by any large vibration, even when ambient temperature changes and the friction characteristics of the wave motion gear reducer 1 vary.;COPYRIGHT: (C)2012,JPO&INPIT