Predictive Control of Harmonic Drive in Automotive Application

Ádam Varga; Béla Lantos

doi:10.20965/jaciii.2007.p1165

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JACIII Vol.11 No.9 pp. 1165-1172

doi: 10.20965/jaciii.2007.p1165

(2007)

Paper:

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Predictive Control of Harmonic Drive in Automotive Application

Ádam Varga and Béla Lantos

Department of Control Engineering and Information Technology, Budapest University of Technology and Economics, H-1117 Magyar Tudósok krt. 2, Budapest, Hungary

Received:

June 15, 2007

Accepted:

August 15, 2007

Published:

November 20, 2007

Keywords:

harmonic drive, predictive controller, steering system, tracking performance

Abstract

This paper addresses the predictive control of the harmonic drive in an automotive application. The goal of the control was to provide good steering feel for the driver and satisfactory tracking performance in a steering system. The paper presents the dynamic model of the harmonic drive, a design framework and a two step algorithm for predictive controller design. The elaborated model predictive controller is similar to a cascade type controller with constraints in the performance function to ensure closed loop stability and a useful compromise between torque tracking and position tracking. The controller was developed and implemented in a real-time environment for rapid prototype design using Matlab, Simulink, Real-Time Workshop and dSPACE AutoBox hardware, then it was experimentally tuned for best steering feel and good tracking performance.

Cite this article as:

�. Varga and B. Lantos, “Predictive Control of Harmonic Drive in Automotive Application,” J. Adv. Comput. Intell. Intell. Inform., Vol.11 No.9, pp. 1165-1172, 2007.

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References

[1] C. W. Musser, “Strain wave gearing,” U.S. Patent 2 906 143, 1955.
[2] L. Lemmer, B. Kiss, and I. Janosi, “Modeling, Identification, and Control of Harmonic Drives for Automotive Applications,” Proc. IEEE Int. Conf. on Intelligent Engineering Systems, INES’06, London, pp. 92-97, 2006.
[3] A. Varga and B. Lantos, “Eigenvalue Properties of Discrete Time Linear Receding Horizon Control Systems,” Proc. IEEE Int. Conf. on Mechatronics, Budapest, pp. 531-536, 2006.
[4] H. D. Taghirad and P. R. Belanger, “Modelling and Parameter Identification of Harmonic Drive Systems,” Dynamic Systems, Measurement, and Control, 120, No.4, pp. 439-444, 1998.
[5] T. D. Tuttle and W. P. Seering, “A nonlinear model of a harmonic drive gear transmission,” IEEE Trans. on Robotics and Automation, 12, No.3, pp. 368-374, 1996.
[6] P. Gandhi and F. Ghorbel, “Closed loop compensation of kinematic error in harmonic drives for precision control applications,” IEEE Trans. on Control Systems Technology, 10, No.6, pp. 759-768, 2002.
[7] H. Taghirad and P. Belanger, “H1-based robust torque control of harmonic drive systems,” ASME Journal of Dynamic Systems, Measurement, and Control, 123, No.3, pp. 338-345, 2001.
[8] W. H. Zhu and M. Doyon, “Adaptive control of harmonic drives,” Proc. 43rd IEEE Conf. on Decision and Control CDC’04, Atlantis, Vol.3, pp. 2604-2608, 2004.
[9] E. F. Camacho and C. Bordons, “Model predictive control,” Springer-Verlag London, 2000.
[10] J. A. Rossiter, B. Kouvaritakis, and M. J. Rice, “A numerically robust state-space approach to stable-predictive control strategies,” Automatica, 34, pp. 65-73, 1998.
[11] B. Lantos, “Control System Theory and Design II. Advanced Control Systems,” Hungarian Academic Press, Budapest, 2003 (in Hungarian).
[12] A. Varga and B. Lantos, “Predictive Control of Nonlinear Systems,” Proc. 6^th Int. Carpathian Control Conf. ICCC’05, Miskolc, Vol.1, pp. 57-62, 2005.
[13] B. Lantos, “Path Design and Receding Horizon Control for Collision Avoidance System of Cars,” WSEAS Trans. on Systems and Control, 1, No.2, pp. 105-112, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] C. W. Musser, “Strain wave gearing,” U.S. Patent 2 906 143, 1955.

[2] [2] L. Lemmer, B. Kiss, and I. Janosi, “Modeling, Identification, and Control of Harmonic Drives for Automotive Applications,” Proc. IEEE Int. Conf. on Intelligent Engineering Systems, INES’06, London, pp. 92-97, 2006.

[3] [3] A. Varga and B. Lantos, “Eigenvalue Properties of Discrete Time Linear Receding Horizon Control Systems,” Proc. IEEE Int. Conf. on Mechatronics, Budapest, pp. 531-536, 2006.

[4] [4] H. D. Taghirad and P. R. Belanger, “Modelling and Parameter Identification of Harmonic Drive Systems,” Dynamic Systems, Measurement, and Control, 120, No.4, pp. 439-444, 1998.

[5] [5] T. D. Tuttle and W. P. Seering, “A nonlinear model of a harmonic drive gear transmission,” IEEE Trans. on Robotics and Automation, 12, No.3, pp. 368-374, 1996.

[6] [6] P. Gandhi and F. Ghorbel, “Closed loop compensation of kinematic error in harmonic drives for precision control applications,” IEEE Trans. on Control Systems Technology, 10, No.6, pp. 759-768, 2002.

[7] [7] H. Taghirad and P. Belanger, “H1-based robust torque control of harmonic drive systems,” ASME Journal of Dynamic Systems, Measurement, and Control, 123, No.3, pp. 338-345, 2001.

[8] [8] W. H. Zhu and M. Doyon, “Adaptive control of harmonic drives,” Proc. 43rd IEEE Conf. on Decision and Control CDC’04, Atlantis, Vol.3, pp. 2604-2608, 2004.

[9] [9] E. F. Camacho and C. Bordons, “Model predictive control,” Springer-Verlag London, 2000.

[10] [10] J. A. Rossiter, B. Kouvaritakis, and M. J. Rice, “A numerically robust state-space approach to stable-predictive control strategies,” Automatica, 34, pp. 65-73, 1998.

[11] [11] B. Lantos, “Control System Theory and Design II. Advanced Control Systems,” Hungarian Academic Press, Budapest, 2003 (in Hungarian).

[12] [12] A. Varga and B. Lantos, “Predictive Control of Nonlinear Systems,” Proc. 6^th Int. Carpathian Control Conf. ICCC’05, Miskolc, Vol.1, pp. 57-62, 2005.

[13] [13] B. Lantos, “Path Design and Receding Horizon Control for Collision Avoidance System of Cars,” WSEAS Trans. on Systems and Control, 1, No.2, pp. 105-112, 2006.