МЕЖДУНАРОДНАЯ НАУЧНО-ТЕХНИЧЕСКАЯ КОНФЕРЕНЦИЯ
АКТУАЛЬНЫЕ ПРОБЛЕМЫ ЦИФРОВИЗАЦИИ ЭЛЕКТРОМЕХАНИЧЕСКИХ И
ЭЛЕКТРОТЕХНОЛОГИЧЕСКИХ СИСТЕМ
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In the most general case, for forced oscillations of the considered drive at one oscillation
period, five phase angles are characteristic, which determine the limits of validity of
individual linear equations (9):
1
1
t
– corresponds to the moment of time
t
1
of disengagement of the driven and
driving shafts;
2
2
t
– corresponds to the time
t
2
when the speed of the drive shaft becomes zero;
3
3
t
– corresponds to the moment in time
t
3
, when the driving or driven shaft begins
to move after stopping;
4
4
t
– corresponds to
t
4
– stop of the driven shaft;
5
5
t
– corresponds to
t
5
– backlash selection time.
To implement each of the above nonlinear characteristics on a computer, it is necessary to
have a number of software modules.
With high demands on the quality indicators of modern controlled EMS, it is necessary to
take into account the effects associated with such nonlinearities as backlash, friction,
saturation and dead zone. Having analyzed many nonlinearities, we can conclude that
some of them can be considered as special cases of others. This makes it possible to
reproduce several nonlinearities with one software module. With this simplification, some
parameters used to specify one nonlinearity may be zero for another. When creating a
basic set of nonlinear blocks, it is necessary to proceed from both the requirements for
universality and the feasibility of reducing the number of blocks, and the requirements for
their speed.
In the case of implementing complex nonlinear characteristics that are difficult to
describe analytically, there is a need to develop a universal module where they would be
specified in a table. The use of such a module can be effective in cases where nonlinear
elements are specified using experimental data. However, this representation requires
large amounts of RAM, which in some cases can lead to limitations in the implementation
of models that include a large number of complex nonlinear dependencies.
Thus, for the effective use of modeling software, it is necessary to create a set of
software modules for typical nonlinearities that would provide the most complete
coverage of all kinds of frequently encountered nonlinear characteristics for the class of
controlled EMS.
