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Eccentric Center Analysis and Control for Electromechanical Integrated Electrostatic Harmonic Drive

Author: ShiXu
Tutor: XuLiZhong
School: Yanshan University
Course: Mechanical Design and Theory
Keywords: Mechanical and electrical integration Electrostatic Harmonic Drive PID control Free vibration Forced vibration Electromechanical coupling
CLC: TH132.43
Type: Master's thesis
Year: 2011
Downloads: 15
Quote: 0
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Abstract


Electromechanical integrated electrostatic harmonic micro- drive system is a miniature composite transmission system . When sequential energization of the stator , due to the role of the electric force , so that the flexspline of the rotor to generate a periodic elastic deformation , when the field rotation , the rotor will be rotated a certain angle in the opposite direction toward the rotating electric field , thereby achieving a low-speed output . The flexspline eccentric electromechanical integrated electrostatic harmonic drive system dynamics and performance , flexspline eccentric investigated the dynamic characteristics of the transmission system and control research has important theoretical significance . This paper flexspline applied electric field force object , according to the theory of elasticity , derived flexspline deformation energy, kinetic energy and the electric field between the stator and the flexspline expression analysis eccentric the flexspline static mechanical properties investigated and studied influence of eccentric electromechanical integrated electrostatic harmonic drive system driving torque . The results show that the eccentricity of the drive torque decreased . Mechanical kinetic theory , establish the flexspline the electromechanical coupling kinetic model , based on the analysis of the law of eccentric impact of the flexspline free vibration . Mode superposition method to analyze the eccentric harmonic excitation system by forced vibration studied . The results show that the eccentric so that the increase in the natural frequency of the system , the vibration amplitude increases . Completed flexspline the eccentric control system mathematical modeling to determine the control parameters of the PID control system , a comparative analysis of the open-loop and closed-loop control system control performance . The eccentric the flexspline control system Simulink simulation model to simulate the step voltage excitation the eccentric control the process , the results show that the PID controller can achieve eccentric adjustable desired effect .

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CLC: > Industrial Technology > Machinery and Instrument Industry > Mechanical parts and gear > The transmission mechanism > Meshing > Harmonic Drive
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