基于IGWO-SVR的扁平一体化谐波减速机传动误差自适应控制算法

张蒙蒙; 陈延璇

基于IGWO-SVR的扁平一体化谐波减速机传动误差自适应控制算法

投稿时间：2025-11-13 修订日期：2025-12-17 点此下载全文

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作者	单位	邮编
张蒙蒙^*	南京交通职业技术学院轨道交通学院	211188
陈延璇	南京交通职业技术学院轨道交通学院

中文摘要:扁平一体化谐波减速机由于受到输入转速波动的影响，存在传动误差问题，使得输出运动与理想运动产生偏差，进一步影响基于该减速机的机械系统的传动精度，为此，提出了基于IGWO-SVR的扁平一体化谐波减速机传动误差自适应控制算法。通过分析谐波减速机正常运行和异常运行时运行信号的变化，提取信号谐波失真量和时-频谱能量作为传动误差的影响因子。利用SVR构建谐波减速机传动误差预测模型，引进GWO算法对模型的惩罚因子和不敏感损失系数进行寻优求解，并结合非线性收敛因子替代算法传统线性递减形式，以满足灰狼向目标解接近时非线性调节的需要，由此输出预测模型的最佳控制参数。依据设备传动误差的允许阈值，利用位置式PID控制器对谐波减速机传动误差进行自适应反馈补偿，以控制传动误差。实验结果表明，提出的算法能够将传动误差控制在0.0011rad以下，具有更高的控制精度。

中文关键词:Adaptive Control Algorithm for Transmission Error of Flat Integrated Harmonic Reducer Based on IGWO-SVR

Adaptive Control Algorithm for Transmission Error of Flat Integrated Harmonic Reducer Based on IGWO-SVR

Abstract:Due to the influence of input speed fluctuations, flat-integrated harmonic gear reducers suffer from transmission error issues, causing deviations between the output motion and the ideal motion, which further affects the transmission accuracy of mechanical systems based on this reducer. To address this, an adaptive control algorithm for transmission error of flat-integrated harmonic gear reducers based on IGWO-SVR is proposed. By analyzing changes in operating signals during normal and abnormal operation of the harmonic gear reducer, signal harmonic distortion and time-frequency spectrum energy are extracted as influencing factors of transmission error. A SVR model for predicting transmission error of the harmonic gear reducer is constructed, and the GWO algorithm is introduced to optimize the model's penalty factor and insensitive loss coefficient. Additionally, a nonlinear convergence factor is combined to replace the traditional linear decreasing form of the algorithm, meeting the need for nonlinear adjustment as gray wolves approach the target solution. This outputs the optimal control parameters of the prediction model. Based on the allowable threshold of equipment transmission error, a position-type PID controller is used to perform adaptive feedback compensation on the transmission error of the harmonic gear reducer to control the transmission error. Experimental results show that the proposed algorithm can control the transmission error below 0.0011 rad, demonstrating higher control accuracy.

keywords:IGWO-SVR Flat Integrated Harmonic Reducer Transmission Error Adaptive Control

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