谐波减速器摩擦特性建模及参数辨识

为提高谐波减速器的机器人关节控制精度，适应其在复杂工况下的使用需求，对谐波减速器摩擦力矩特性进行了研究.通过引入弹流润滑关系、非线性刚度关系和柔轮弹性变形耗散关系模型，建立了速度、负载转矩和温度等参数耦合的谐波减速器摩擦力矩模型.使用遗传算法对SHF-20-80-2UJ型谐波减速器的试验数据进行处理，得到了待辨识参数的识别结果，验证了模型的准确性，摩擦力矩的仿真值与试验值间的最大和平均偏差分别为8.05%， 4.26%;满载且输入转速为2000r/min时，不同温度下摩擦力矩的仿真值与试验值间的最大偏差为1.12%.该模型有效地反映了谐波减速摩擦力矩关于转速、负载转矩和温度变化的非线性关系，测得弹性变形能量损失在空载与满载时分别约占总能量损失的20%， 50%.

Modeling and Parameter Identification of Friction Characteristics of Harmonic Reducer

In order to improve the control precision of the robot joint of the harmonic reducer(HD)and adapt to its use under complex working conditions， the friction torque characteristics of HD are studied. By introducing the models of elastohydrodynamic lubrication relationship， the nonlinear stiffness relationship and equivalent dissipation relationship of flexspline elastic deformation， a friction torque model of HD coupled with parameters such as speed， load torque and temperature is established. The genetic algorithm is used to process the test data of the SHF-20-80-2UJ harmonic reducer， the identification results of the parameters to be identified are obtained， and the accuracy of the model is verified. The maximum and average deviations between the simulated and experimental values of friction torque are 8.05% and 4.26% respectively; with full load and input speed being 2000r/min， the maximum deviation between the simulated value and the experimental value of the friction torque at different temperatures is 1.12%. The model effectively reflects the nonlinear relationship between the friction torque of the harmonic reducer with respect to the rotating speed， load torque and temperature changes. The measured elastic deformation energy loss accounts for about 20% and 50% of the total energy loss at no-load and full-load respectively.