2023

Li, Ming; Wu, Huapeng; Yin, Ruochen; Li, Changyang; Qin, Guodong; Hekmatmanesh, Amin; Handroos, Heikki; Deighan, Tom; William, Brace

Sensitivity analysis has been conducted in the control system of a heavy-duty joint, where the trajectory tracking errors and gear system efficiency are deemed as the outputs of interest and the variety of the trajectory shapes, the payload and the environment temperature are deemed as the inputs of interest. The simulation results indicate that the position signal frequency has the most effect on both the tracking errors and gear efficiencies as well as control stability, and the system is less sensitive to the variety of the payload and temperature. The study also indicates that the sensitivity analysis can be used to narrow down the requirement concerns on the system design and used to verify the feasibility and reliability of system with respect to requirement.