Harmonic Gear Precision Transmission Control Based on Adaptive Sliding Mode Controller

Harmonic drive systems play an increasingly important role in modern industry due to their advantages such as high accuracy. However, due to its inherent large reduction ratio and weak rigidity qualities, it still faces many challenges in model construction and controller design. Many in-depth studies have been conducted on modelling and control strategies, but the existing models often fail to fully consider the nonlinear factors, while the control strategies are mostly limited to PID and its derivatives, which fail to make full use of the established models. In view of this, this paper establishes a mechatronics model based on a typical harmonic gear transmission system. An adaptive sliding mode controller for the established model is designed, which gives a complete theoretical proof. And the validity and reasonableness of the proposed model and controller are confirmed through simulation experiments and physical verification.