CASPIAN JOURNAL

MANAGEMENT AND HIGH TECHNOLOGIES

Features of mechatronic drives control taking into account nonlinearities of the kinematic circuit

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Novikova Yelena А. Features of mechatronic drives control taking into account nonlinearities of the kinematic circuit // Caspian journal : management and high technologies. — 2013. — №4. — pp. 36-43.

Novikova Yelena А. - Ph.D. (Engineering), Vladimir State University named after Alexander and Nicholay Stoletovs, 87 Gorky St., Vladimir, 600000, Russian Federation, eanovikova@vlsu.ru

The article discusses the features of the study of the dynamics of mechatronic drives operating at low speeds. Analyzes the causes of friction oscillations: A mathematical model of the drive and the qualitative picture of the self-oscillating mode for three cases: the "system with a gap and friction-free"; system without clearance from the "dry friction", a system with a gap and a "dry friction". With the help of numerical analysis, the modes of oscillation: harmonic and relaxation, it is shown that the transition from the relaxation oscillations to harmonic oscillation amplitude is maximum friction. It is concluded that the smooth movement of the output increases with decreasing friction shock, the slip rate increases, the mass load, the transfer function of the actuator. An algorithm for compensation of friction oscillations based on the introduction of speed feedback slip output unit of translation.

Key words: mechatronic drive rolikovintovoy mechanism,low speed,friction,self-oscillation,the gap,dry friction,algorithm,nonlinearities compensation,management