부산대학교 도서관

The purpose of this paper is to present our results in overcoming the influence of the nonlinear frictionafforded by harmonic drive to the gimbal servo-system of double-gimbal control momentum gyro (DGCMG). Theexistence of compliance and oscillation inherent in harmonic drive systems, and the lack of any technical informationon the internal dynamics of the transmission, make the development of friction compensation in harmonic drivesystem extremely challenging. In this paper, the modeling of nonlinear friction in harmonic drive gear transmissionin gimbal servo-system of the DGCMG is proposed. The relationship among the nonlinear friction, the angularvelocity and the angular position with an improved Coulomb-Viscous model is derived, and the experiments toidentify the various parameters of the improved model are given. At last a feed-forward compensation controllerbased on the improved model is designed to carry out the friction compensation study.