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Adaptive control of harmonic drive motors with parameter varying friction using structurally dynamic wavelet networks

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Adaptive control of harmonic drive motors with parameter varying friction using structurally dynamic wavelet networks

Tadayoni, Seyyed Alireza (2006) Adaptive control of harmonic drive motors with parameter varying friction using structurally dynamic wavelet networks. Masters thesis, Concordia University.

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Abstract

The many advantages of harmonic drives motors such as compactness, high gear ratio, low backlash, light weight, and high torque capacity has resulted in their wide spread usage in precision control applications. However, the nonlinearities of harmonic drives including hysteresis, kinematic error, position dependent friction, and flexibility make it difficult to develop control systems that achieve precise tracking performance. In this thesis, a new approach for adaptive control of harmonic drive motors is developed using a structurally dynamic wavelet neural network to achieve accurate tracking in the presence of parameter varying friction. Furthermore, a new fuzzy logic approach is proposed for dynamic addition and removal of wavelet nodes that achieves accurate tracking using a minimum number of nodes. Experimental verification of the proposed method indicates that it can achieve precise tracking performance with a significantly smaller number of nodes than existing approaches.

Divisions:Concordia University > Faculty of Engineering and Computer Science > Mechanical and Industrial Engineering
Item Type:Thesis (Masters)
Authors:Tadayoni, Seyyed Alireza
Pagination:xii, 86 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:M.A. Sc.
Program:Mechanical and Industrial Engineering
Date:2006
Thesis Supervisor(s):Gordon, Brandon
ID Code:9055
Deposited By:Concordia University Libraries
Deposited On:18 Aug 2011 14:43
Last Modified:18 Aug 2011 14:55
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