Investigation of interactions between mechanical and electrical components of a motion platform

Abstract

While modelling control systems with mechanical components driven by electrical motors it is usually assumed that the torque generating (electrical) sub-system has negligible dynamics and remaining study is based on this assumption. This paper is focused on investigation of the validity of this assumption. For this purpose, the interactions between mechanical and electrical components of a system consisting of an electrical motor connected to a mechanical load has been investigated by employing a simplified, linear model. Besides the analysis using this model, data collected via experiments on real hardware was processed and compared with the theoretical findings.

Controlling A Motion Platform Beyond Its Anti-Resonance

“…In modeling motion platforms for control purpose, the system is usually divided into two parts as "electrical" and "mechanical" subsystems. The electrical sub-system does usually have a wider bandwidth and under certain conditions it can simply be modeled as unity or as a simple first-order low-pass filter Ari [2013]. The mechanical part of the motion platform is usually modeled as a multibody system with elastic connections in between.…”