Research On Control Algorithm Of Active Balancing Speed Reducer And Its Principle Experiment

With the rapid development of modern industry, the increase of the mechanical operation speed has caused a significant increase of the inertial effects; meanwhile, it brings a lot of problems such as noise and vibration, which have seriously influenced the machine working performance and its service life. In order to meet the requirements of high precision and efficiency, as well as to improve the mechanical dynamic performance, it is necessary to make further study in mechanical balancing and to explore a new way to improve the dynamic quality of the mechanisms.The paper focuses on the control algorithm of the Active Balancing Speed Reducer (ABSR) and the relevant experiments. The purpose is to ensure the realization of the active balancing function of the ABSR by selecting and designing the control system with quick response and good performance. The specific research includes:Firstly, the electromechanical coupling dynamic model was established on the basis of the dynamic model of the active balancing speed reducer and servo motor. And then the state space equation of the whole system was established.Secondly, according to the state space equation, second-order terminal sliding mode control system for ABSR was designed based on the design principles of high-order sliding mode control and nonlinear terminal sliding mode surface, and the simulation analysis was carried on. In addition, simulation study for velocity feed-forward system based on load torque observer and moment of inertia identifier were carried out.Finally, the experimental scheme was designed for the prototype of ABSR-The dynamic performance of mechanical system with of ABSR was studied. The control performance of sliding mode control system and the effect of sliding mode control algorithm on ABSR were also tested.To sum up, the control algorithm of ABSR was studied from the view of theory computer simulation and experiment. The improvement effect of ABSR on dynamic performance of the mechanism, as well as the good performance of sliding mode algorithm of sliding and the role of the control of sliding mode control system for active balancing were verified. The research results lay a theoretical and practical foundation for the improvement and the industrial application of active balancing reducer.