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G. Incerti is with the Department of Mechanical and Industrial Engineering, The stiffness k of the belt branches can be determined by the
University of Brescia, 25123 Brescia, Italy, (e-mail: giovanni.incerti@unibs.it). well-known relationship k = EA/l, where E is the Youngs
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World Academy of Science, Engineering and Technology
International Journal of Mechanical and Mechatronics Engineering
Vol:8, No:9, 2014
To analyze the dynamics of the system we use the Lagrange accelerations 1 e 2 and (7) with respect to the time derivative
equations, which, for the case under consideration, assume the of the armature current; nally we introduce the two identities
following form: 1 = 1 e 2 = 2 , obtaining in this way the following system
of differential equations:
d T T D U W
+ + = i = 1, 2 (1)
dt i i i i i
1 = 1
where the symbols T , D, U and W respectively indicate
2 = 2
the kinetic energy of the system, the Rayleigh dissipation
1
1 = (2kr12 1 + 2kr1 r2 2 2cr12 1 +
function, the potential energy due to the elastic deformation
J1
of the belt branches and the work done by the external actions +2cr1 r2 2 + zkm I)
(8)
(motor torque and the load torque) acting on the system. The
1
= [2kr r 2kr 2
+
complete list of the symbols used in the equations is given in
2
J2
1 2 1 2 2
Appendix C.
+2cr1 r2 1 (2cr22 + )2 r0 ]
For a permanent magnet DC motor the torque m is
proportional to the current I that ows in the armature circuit; I = 1 [zkm 1 RI + V (t)]
L
the load torque r acting on the system can be considered as
the sum of a constant term r0 and linearly variable term with Using matrix notation, (8) can be rewritten in the form:
the angular speed 2 . Therefore will be valid the following
x(t) = Ax(t) + Bu(t) (9)
relationships:
m = k m I r = r0 + 2 (2) where:
0 0 1 0 0
The virtual work done by the motor and the load torque is: 0 0 0 1 0
W = zm 1 r 2 (3) 2kr2
1
2kr1 r2 2cr2
1
2cr1 r2 zkm
J1 J1 J1
J1 J1
Using the sign conventions shown in Fig. 1 the kinetic energy A= (10)
2kr1 r2 2kr22 2cr1 r2 2cr22 +
can be written as: 0
J2 J2 J2 J2
1 zkm R
T = (J1 21 + J2 22 ) (4) 0 0
L
0
L
2
where J1 = J1 +z 2 Jm . The potential energy and the Rayleigh
0 0
dissipation function assume the following expressions: 0 0
0 0
U = k(r1 1 r2 2 ) 2
D = c(r1 1 r2 2 ) 2
(5) B=
1
0
(11)
J2
Substituting the above expressions into (1) and calculating the 1
0
required derivatives we obtain the motion equations of the L
device shown in Fig. 1: T
x(t) = 1 (t) 2 (t) 1 (t) 2 (t) I(t) (12)
J 1 + 2cr12 1 2cr1 r2 2 +
1 +2kr12 1 2kr1 r2 2 = zkm I
(6) T
J 2cr1 r2 1 + 2cr22 2 2kr1 r2 1 + u(t) = r0 V (t) (13)
2 2
+2kr22 2 = (r0 + 2 )
As is known, A and x are respectively the state matrix and
As regards the electric behavior of the motor, the application
the state vector of the system, u is the input vector and B
of the Kirchhoffs voltage law to the armature circuit of the
the input matrix. The differential equations here obtained are
motor gives (see Fig. 2):
linear and for their solution the analytical method described
V (t) = RI + LI + zkm 1 (7) in the next section can be used.
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World Academy of Science, Engineering and Technology
International Journal of Mechanical and Mechatronics Engineering
Vol:8, No:9, 2014
III. A NALYTICAL SOLUTION IN STATE SPACE Now we introduce the linear transformation:
An analytical solution for the system of equations (9) can be x(t) = X(t) (22)
found using the modal analysis in state space; this procedure
requires the calculation of two different types of eigenvectors where = [1 2 3 4 5 ]T is the vector containing the modal
[5] [6]. We proceed by considering rst the problem of free coordinates i (t). Substituting (22) into (9) and premultiplying
vibrations (or homogeneous problem), obtained by imposing by YT both sides of the equation, we obtain:
u(t) = 0; from (9) we get: YT X(t) = YT AX(t) + YT Bu(t) (23)
x(t) = Ax(t) (14)
Considering (20), we can rewrite the above equation in the
Equation (14) represents in matrix form a system of form:
ve rst-order ordinary differential equations with constant (t) = (t) + q(t) (24)
coefcients, whose solution is:
where:
x(t) = xet (15) q(t) = YT Bu(t) (25)
International Science Index, Mechanical and Mechatronics Engineering Vol:8, No:9, 2014 waset.org/Publication/9999272
where x is a constant vector and a constant scalar. By In this way we have obtained the complete decoupling of the
substituting (15) into (14) and simplifying the exponential term differential equations that describe the system dynamics, since
on both sides, we obtain: the matrix equation (24) contains ve independent equations,
which can be separately solved. Each of them is a rst
Ax = x (16) order nonhomogeneous linear differential equation, that can
Equation (16) represents the eigenvalue problem with a be written as:
nonsymmetric real matrix A. The solution of (16) gives
i (t) = i i (t) + qi (t) i = 1, . . . , 5 (26)
the eigenvalues i and the corresponding eigenvectors xi ,
(i = 1, . . . , 5). These eigenvalues can be real or complex. The solution of (26) can be expressed in the general form:
Since A is a real matrix, if i is a complex eigenvalue, t
i t
its complex conjugate i will also be an eigenvalue of A; i (t) = i (0)e + qi ( )ei (t ) d i = 1, . . . , 5 (27)
moreover the eigenvectors xi and xi , corresponding to i and 0
i , will also be complex conjugates to one another. For calculating the initial conditions i (0) in terms of modal
Now let us consider the eigenvalues-eigenvectors problem coordinates, it is sufcient to invert (22) and to set t = 0:
for the transposed matrix AT :
(0) = X1 x(0) (28)
T
A y = y (17) 1 T
From the rst of (20) we have X = Y and therefore
Since the determinants of A and AT are equal, (16) and (17) the calculation of the inverse of matrix X can be replaced by
generates the same characteristic equation, i.e.: the transposition of matrix Y; this simplies the computation
process. Therefore we can rewrite (28) in the form:
|A I| |AT I| = 0 (18)
(0) = YT x(0) (29)
where I is the 5 5 identity matrix. Consequently the
eigenvalues of A and AT are identical; on the contrary the After determining the modal coordinates by means of (27),
eigenvectors of these matrices will be different. the solution of the system (9) can be obtained using the linear
The eigenvectors xi , i = 1, . . . , 5 of A are called right transformation given by (22).
eigenvectors, whereas the eigenvectors yj , j = 1, . . . , 5 of
AT are called left eigenvectors; more details about these IV. S IMULATION RESULTS
denominations are given in Appendix A. The previously described model has been used for
The right eigenvalues xi and the left eigenvalues yi are the simulating the dynamic behavior of the belt transmission
columns of the matrices X and Y, which are dened by the shown in Fig. 1 during startup. To perform the simulations, it
following relationships: was assumed that the DC motor was controlled with a voltage
X = [x1 x2 x3 x4 x5 ] Y = [y1 y2 y3 y4 y5 ] (19) signal having the following exponential form:
If the eigenvectors X and Y are properly normalized, the V (t) = Vmax (1 et/ ) (30)
following equations are valid (see Appendix B for details):
where Vmax and indicate, respectively, the maximum
YT X = I YT AX = (20) value of the voltage command and the time constant of the
exponential function. The complete list of parameters used
where is the 5 5 diagonal matrix of eigenvalues, i.e.: for the calculation is shown in Table I.
1 0 0 0 0 In order to solve the differential equations, the
0 2 0 0 0 method of modal analysis in state space has been
= 0 0 3 0 0 (21) employed, using numerical techniques [7] for solving
0 0 0 4 0 the eigenvalue-eigenvector problems and for calculating the
0 0 0 0 5 integral in (27).
International Scholarly and Scientific Research & Innovation 8(9) 2014 1539 scholar.waset.org/1307-6892/9999272
World Academy of Science, Engineering and Technology
International Journal of Mechanical and Mechatronics Engineering
Vol:8, No:9, 2014
TABLE I
S YSTEM PARAMETERS USED FOR NUMERICAL SIMULATIONS The results obtained by this method are in agreement with
those obtained by Runge-Kutta algorithm, which, although of
Jm = 4 104 kgm2 r0 = 0 Nm easier application, allows only a numerical evaluation of the
J1 = 0.018 kgm2 = 5 Nms/rad solution.
J2 = 0.25 kgm2 z = 15 The proposed method has been implemented in a software
k = 120 kN/m Vmax = 24 V package and it can be easily extended to the study of similar
c = 20 Ns/m R = 0.15 systems with lumped parameters, where the vibrations are due
r1 = 80 mm L = 0.2 mH to the compliance of the mechanical components (belt, joints,
r2 = 160 mm km = 0.09 Nm/A
etc.); in general, assuming that the system under considerations
has n degrees of freedom, its description in the state space
will require the use of 2n + 1 variables, since, in addition to
the mechanical coordinates, it is necessary to add the current
The exactness of the results has been veried by comparing owing in the armature circuit of the electric motor.
the solution obtained by modal approach with the solution
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(a) (b)
30 60
= 20 ms
= 40 ms
= 60 ms
Motor voltage [V]
10 20
= 20 ms
= 40 ms
= 60 ms
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time [s]
time [s]
International Science Index, Mechanical and Mechatronics Engineering Vol:8, No:9, 2014 waset.org/Publication/9999272
(c) (d)
1000 800
= 20 ms = 20 ms
= 40 ms = 40 ms
800 = 60 ms = 60 ms
600
400
400
200
200
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time [s]
time [s]
(e) (f)
20 10
Ang. velocity - pulley (1) [rad/s]
8
15
10
5
= 20 ms 2 = 20 ms
= 40 ms = 40 ms
= 60 ms = 60 ms
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time [s]
time [s]
(g) (h)
400 300
= 20 ms = 20 ms
Ang. acceleration - pulley (1) [rad/s]
= 40 ms = 40 ms
300 = 60 ms = 60 ms
200
200
100
100
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
100 100
Fig. 3. Simulation results: a) Motor voltage (command signal); b) Armature current; c) Electric power at the motor terminals; d) Mechanical power at the
motor shaft; e) Angular velocity 1 ; f) Angular velocity 2 ; g) Angular acceleration 1 ; h) Angular acceleration 2 .
International Scholarly and Scientific Research & Innovation 8(9) 2014 1541 scholar.waset.org/1307-6892/9999272
World Academy of Science, Engineering and Technology
International Journal of Mechanical and Mechatronics Engineering
Vol:8, No:9, 2014
A PPENDIX C
L IST OF SYMBOLS Giovanni Incerti graduated in Mechanical
Engineering in 1990 at the University of Brescia,
Pulley (1) rotation angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Italy. At the same university he received the Ph.D
Pulley (2) rotation angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 in Applied Mechanics in 1995. Actually he is
Motor shaft rotation angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . m associate professor at the University of Brescia
and his teaching activity is related to the courses
Kinetic energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T of Mechanical Vibrations, Applied Mechanics and
Potential energy due to system elasticity . . . . . . . . . . . . . . . . . . . . . . . . . U Vibration Control. He is author of papers dealing
Rayleigh dissipation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D with the dynamic analysis of cam systems, the
Work done by motor and resistant torques . . . . . . . . . . . . . . . . . . . . . . . W mathematical modeling of devices for industrial
automation, the mechanism design by optimization
Motor torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . m techniques and the study of robots and servomechanisms. He took part in
Load torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . r researches funded by the Italian Council of Researches (CNR) and by the
Constant component of the load torque . . . . . . . . . . . . . . . . . . . . . . . . . r0 Italian Ministry of University and Research. Recently he has been scientic
Viscous friction coefcient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . coordinator for the University of Brescia inside the National research project
Design and experimental validation of cam transmissions.
Moment of inertia of the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jm
Moment of inertia of pulley (1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J1
Moment of inertia of pulley (2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J2
Axial stiffness of the belt branches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . k
Damping constants of the belt branches . . . . . . . . . . . . . . . . . . . . . . . . . . . c
Pulley (1) radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . r1
Pulley (2) radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . r2
Gear ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . z
1 For convenience, the new normalized eigenvectors are indicated with the
same symbols yi e xi used for the non-normalized eigenvectors.
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