Simulating dynamics of electromechanical drive unit of control system with harmonic reducer

The article deals with the research into dynamics of the electromechanical drive unit of a control system with a wave gear reducer (a harmonic drive). The authors use the dynamic model of the drive including a direct current motor, a wave gear reducer with the disk generator of waves, and the inertial loading. The dynamic parameters of the wave reducer are the following ones: a torsional stiffness coefficient and a damping coefficient, which are estimated according to the averaged experimental data. The authors compute a set of the drive motion differential equations for the given frequency. The drive motion is simulated for the range offrequencies from 20 to 210Hz. The simulation results in determining the drive’s amplitude-frequency and phase-frequency characteristics. The comparison of the simulation results with the experimental data shows that the model provides estimation of the drive’s natural frequency with an error, which is less than 10%.

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