Full closed loop‑based dynamic accuracy enhancement for elastic joints

Haitao Liu; Yan Wang; Xianlei Shan

Full closed loop‑based dynamic accuracy enhancement for elastic joints

Haitao Liu

Yan Wang

Xianlei Shan

Vol. 22, No. 6, pp. 959-969, Jun. 2022

10.1007/s43236-022-00438-6

Elastic joint

Dynamic accuracy enhancement

Dynamic error model

Full closed loop control

Abstract

Owing to the elasticity of transmission systems, actuated joints suff er from dynamic errors that seriously aff ect 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 simplifi ed 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 infl uence 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 eff ectively 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.

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Cite this article

[IEEE Style]

H. Liu, Y. Wang, X. Shan, "Full closed loop‑based dynamic accuracy enhancement for elastic joints," Journal of Power Electronics, vol. 22, no. 6, pp. 959-969, 2022. DOI: 10.1007/s43236-022-00438-6.

[ACM Style]

Haitao Liu, Yan Wang, and Xianlei Shan. 2022. Full closed loop‑based dynamic accuracy enhancement for elastic joints. Journal of Power Electronics, 22, 6, (2022), 959-969. DOI: 10.1007/s43236-022-00438-6.