МЕЖДУНАРОДНАЯ НАУЧНО-ТЕХНИЧЕСКАЯ КОНФЕРЕНЦИЯ
АКТУАЛЬНЫЕ ПРОБЛЕМЫ ЦИФРОВИЗАЦИИ ЭЛЕКТРОМЕХАНИЧЕСКИХ И
ЭЛЕКТРОТЕХНОЛОГИЧЕСКИХ СИСТЕМ
152
Figure 1. Kinematic diagram of an electromechanical drive
where the introduced notations:
x
and
y
– rotation angles of the input and output shafts;
j
1
and
j
2
– moments of inertia of the driven and drive shafts;
M
у
– electromechanical control
torque on the drive shaft;
M
1
,
M
2
and
M
3
– moments of resistance due to dry (Coulomb)
friction. The motion of the input and output shafts with a harmonic control signal is
described by the following differential equations. At the time when the backlash is
selected and contact is made between the drive and driven shafts, i.e.
̇ ̇
, we have
,
;
sin
sign
)
(
3
2
1
3
2
1
M
M
M
M
t
kU
x
M
M
M
x
x
j
y
m
(7)
where
j
=
j
2
+
j
3
– total moment of inertia of driven and drive shafts,
µ
- coefficient of linear
friction,
M
– dry friction moment,
t
kU
M
m
y
sin
– control torque,
U
m
,
– amplitude
and frequency of the control signal.
When selecting backlash, i.e. when
