谐波驱动系统Back-stepping滑模控制研究OA北大核心CSTPCD

Aiming at the nonlinear factors such as flexible deformation,friction and motion error in the dynamic model of harmonic transmission system,in order to improve the transmission accuracy of the system,the nonlinear stiffness and static error factors of the system are modeled,and a Back-stepping sliding mode control method is proposed in this paper.Using Lyapunov stability theory,it is proved that the error of the closed-loop system is uniformly bounded.The simulation results show that compared with PID control,the peak-peak value of the transmission error curve of the system is reduced by 66.63%with the Back-stepping sliding mode control;The peak-peak value of the angular rate error curve at the load end is reduced by 77.35%.Back stepping sliding mode control can effectively compensate the transmission error of the system,suppress the speed fluctuation at the load end,and improve the transmission accuracy of the system.