Nonlinear transmission torque model modeling method and gear wave disturbance torque suppression method
A technology of nonlinear transmission and modeling method, which is applied in the field of servo motor control, can solve the problems of difficult modeling and difficult disturbance suppression, and achieve the effect of improving accuracy, compensating for phase lag, and good disturbance suppression effect
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[0081] Exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
[0082] The basic principle of the invention is: the frame control moment gyroscope is often used as an attitude adjustment device for spacecraft, so its volume is limited and its performance is strictly required. Considering the size and weight limitations of the frame servo motor, a harmonic reducer is introduced to achieve the goal of amplifying the torque and reducing the size and weight. However, the nonlinear transmission characteristics of the harmonic reducer are introduced into the system, resulting in nonlinear and The multi-source disturbance torque seriously reduces the accura...
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