The dynamic behavior of a servomechanism must be studied as a whole without distinction between its parts, in order to assess correctly the overall performance of the system. For this reason, in many cases of practical interest, it may be useful to analyze the dynamics of a mechatronic device using a mathematical model and a computer simulation software, in order to verify the consequences arising from the modification of a particular parameter of the system. Following this methodological approach, this paper proposes a model for the dynamic analysis of a typical industrial servomechanism characterized by elasticity and backlash in the transmission. The model has been implemented into a software application and it can be used to test, from a theoretical point of view, the dynamic behavior of the device under user defined operating conditions. The numerical simulations, that can be performed in a short time, may help the designer to optimize the dynamic performance of the servomechanism without performing experimental activities. On the basis of the simulation results he can then evaluate, for example, if the presence of the backlash still allows to obtain acceptable acceleration values. The software also allows to verify the effects resulting from different settings of the position regulator and therefore it can be helpful to assist the designer during the calibration procedures.
Modeling and simulation of a position-controlled servo-axis with elasticity and backlash in the transmission
INCERTI, Giovanni
2017-01-01
Abstract
The dynamic behavior of a servomechanism must be studied as a whole without distinction between its parts, in order to assess correctly the overall performance of the system. For this reason, in many cases of practical interest, it may be useful to analyze the dynamics of a mechatronic device using a mathematical model and a computer simulation software, in order to verify the consequences arising from the modification of a particular parameter of the system. Following this methodological approach, this paper proposes a model for the dynamic analysis of a typical industrial servomechanism characterized by elasticity and backlash in the transmission. The model has been implemented into a software application and it can be used to test, from a theoretical point of view, the dynamic behavior of the device under user defined operating conditions. The numerical simulations, that can be performed in a short time, may help the designer to optimize the dynamic performance of the servomechanism without performing experimental activities. On the basis of the simulation results he can then evaluate, for example, if the presence of the backlash still allows to obtain acceptable acceleration values. The software also allows to verify the effects resulting from different settings of the position regulator and therefore it can be helpful to assist the designer during the calibration procedures.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
