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

该奖项旨在支持一项美国-突尼斯研究项目，研究谐波驱动（H-D）机电系统非线性控制律的建模、分析和实时实现的基本问题。首席研究员是Fathi Ghorbel博士，机械工程助理教授，Rice University, Houston, Texas。这位突尼斯合作者是位于突尼斯拉马尔萨的突尼斯综合理工学院电子工程助理教授Rached Dhaouadi博士。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，这在谐波驱动系统的实验工作中得到了体现。他们首先将为H-D系统建立数学模型。当与整个系统的运动方程相结合时，这些模型必须得到数学上很好的微分方程。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来补偿对整个系统性能的非线性影响。奇异摄动技术将被研究，以阐述一种控制方法，用于模型简化，控制设计和稳定性分析。数值模拟和实验将用于测试这些驱动控制概念。本项目涉及高性能工业和仪表伺服系统的一个重要课题。这两位科学家计划在莱斯大学合作开发数学模型。他们还将在模型参数识别、数值模拟、实验调查和模型验证的以下阶段进行合作。这一提议符合INT在共同感兴趣的领域支持联合研究的目标。该项目由国际项目部和土木与机械系统部共同资助。

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.