US-Tunisia Cooperative Research: Development of High Performance Control Systems for Electro-Mechanical Actuators with Harmonic Drive Gears

美国-突尼斯合作研究：开发带有谐波驱动齿轮的机电执行器的高性能控制系统

• 批准号: 9819869
• 负责人: Fathi Ghorbel
• 金额: $ 3.24万
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-07-01 至 2001-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9819869&HistoricalAwards=false
• 关键词: US; Tunisia; Cooperative; Research; Development

9819869GhorbelDescription: This award is to support a US-Tunisia research project to study the fundamental issues in modeling, analysis, and real-time implementation of nonlinear control laws for electromechanical systems with Harmonic Drives (H-D). The Principal Investigator is Dr. Fathi Ghorbel, Assistant Professor of Mechanical Engineering, Rice University, Houston, Texas. The Tunisian collaborator is Dr. Rached Dhaouadi, Assistant Professor of Electrical Engineering at Ecole Polytechnique de Tunisie, La Marsa, Tunisia. They plan to develop methodologies to quantify the hysteresis effect in the dynamic torque-displacement relationship, exhibited in experimental work on a harmonic drive system. They first will formulate mathematical models for the H-D system. These models must lead to mathematically well posed differential equations when coupled with the equations of motion of the overall system. The second phase will investigate the integration of these models into a complete drive system and the development of nonlinear control strategies to compensate for the nonlinear effects on the overall system performance. The singular perturbation technique will be investigated to elaborate a control methodology for the model reduction, the control design and the stability analysis. Numerical simulation and experiments will be used to test these drive control concepts.Scope: This project deals with an important topic in high performance industrial and instrumentation servo systems. The two scientists plan to collaborate in the development of the mathematical model to be carried out at Rice University. They will also collaborate in the following phases of model parameter identification, numerical simulation, and the experimental investigation and model validation. This proposal meets the INT objective of supporting joint research in areas of mutual interest. This project is co-funded by the Division of International Programs and by the Division of Civil and Mechanical Systems.

9819869 Ghorbel描述：该奖项旨在支持美国-突尼斯研究项目，研究带有谐波传动（H-D）的机电系统非线性控制律的建模、分析和实时实施中的基本问题。 主要研究者是Fathi Ghorbel博士，他是德克萨斯州休斯敦莱斯大学机械工程助理教授。 突尼斯的合作者是Rached Dhaouadi博士，突尼斯La Marsa理工学院电气工程助理教授。 他们计划开发方法来量化动态扭矩-位移关系中的滞后效应，这在谐波传动系统的实验工作中表现出来。 他们首先将为H-D系统建立数学模型。 这些模型在与整个系统的运动方程耦合时，必须导致数学上的适定微分方程。 第二阶段将研究将这些模型集成到一个完整的驱动系统中，并开发非线性控制策略，以补偿非线性对整个系统性能的影响。奇异摄动技术将被研究，以阐述一种控制方法的模型降阶，控制设计和稳定性分析。 数值模拟和实验将被用来测试这些驱动控制concepts.Scope：这个项目涉及高性能工业和仪器伺服系统的一个重要课题。 两位科学家计划合作开发将在莱斯大学进行的数学模型。 他们还将在模型参数识别、数值模拟、实验研究和模型验证等阶段进行合作。 该提案符合INT支持共同感兴趣领域联合研究的目标。 该项目由国际方案司和土木和机械系统司共同资助。