Research on Disturbance Rejection Control Method of Mechanical Transmission System Based On Torque Compensation

Abstract

In order to improve the immunity ability of mechanical transmission system and reduce the dynamic load of transmission system caused by impact load, a disturbance rejection control method for mechanical transmission system is proposed based on torque compensation. The servo control modal parameters of mechanical transmission system are identified by fuzzy identification and inertial fusion. The inverse kinematics solution of the control structure of the mechanical transmission system is carried out by using the inverse kinematics decomposition method of the end effect, and the torque compensation and the optimization identification of the mechanical parameters of the mechanical transmission system are carried out by the modified DH parameter method. The dynamic load suppression problem is transformed into the torque parameter optimization problem of the mechanical transmission system. The motor torque is controlled to suppress the dynamic load of the mechanical transmission system. The Kalman filter is used to estimate the aerodynamic torque load of the system. The optimization of anti-disturbance control of mechanical transmission system is realized. The simulation results show that the proposed method has good stability and can effectively attenuate the dynamic load of the transmission system caused by the external abrupt load.