Abstract
In this article the particularities of the dynamics study of mechatronic drives that operate at low velocities are discussed; the origins of frictional self-exited oscillations to develop an algorithm for non-linearity correction are analyzed; a drive mathematical model and the qualitative picture of the self-exited oscillations regimes were presented for the three cases: a "system with clearance and friction-free"; a system without clearance with "dry friction" and a system with clearance and "dry friction". Therefore, an algorithm to compensate the frictional self-excited oscillations based on the feedback introduction for the sliding velocity of the linear motion output link was proposed.
Highlights
The concept of designing an electromechanical drive as a single mechatronic device is widely known and has been realized during the creation of a mechatronic single-block drive, that is a whole structure based on a contactless torque motor to the hollow rotor built with a planetary screw or roller screw mechanism which provides either a linear or rotational output motion Fig. 1 [1,2,3,4]
In an electromechanical drive which operates at low velocities the frictional self-excited oscillations (SEO) arise
The dynamics of the servo drive which consists of a brushless DC electric motor and a roller screw actuating mechanism (RSM) is described by a two-mass model
Summary
The concept of designing an electromechanical drive as a single mechatronic device is widely known and has been realized during the creation of a mechatronic single-block drive, that is a whole structure based on a contactless torque motor to the hollow rotor built with a planetary screw or roller screw mechanism which provides either a linear or rotational output motion Fig. 1 [1,2,3,4]. The design of mechatronic actuators which operate at low velocities is not possible without knowing the dynamic, computable and other functioning regularities of its actuating elements. In this sense, the study of the mechatronic modules dynamics seems to be an inherent stage in the design of modern systems for the implementation of a time-optimal motion control algorithm [5, 6]. The instability of the specified output displacement principle can be caused by factors such as self-locking in the transmission, control torque pulsations and load oscillations which are caused by nonlinear frictional properties and a high drive vibroactivity
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