Modeling, Simulation and Dynamics Analysis Issues of Electric Motor, for Mechatronics Applications, Using Different Approaches and Verification by MATLAB/Simulink

摘要

The accurate control of motion is a fundamental concern in mechatronics applicat ions, where placing an object in the exact desired location with the exact possible amount of force and torque at the correct exact t ime is essential for efficient system operation. An accurate modeling, simu lation and dynamics analysis of actuators for mechatronics motion control applications is of big concern. The u ltimate goal of this paper addresses different approaches used to derive mathematical models, building corresponding simu lin k models and dynamic analysis of the basic open loop electric DC motor system, used in mechatronics motion control applications, particularly, to design, construct and control of a mechatronics robot arm with single degree of freedo m, and verification by MATLAB/Simu link. To simplify and accelerate the process of DC motors sizing, selection, dynamic analysis and evaluation for different motion applications, different mathemat ical models in terms of output position, speed, current, acceleration and torque, as well as corresponding simulink models, supporting MATLAB m.file and general function block models are to be introduced. The introduced models were verified using MATLAB/ Simu link. These models are intended for research purposes as well as for the application in educational process. This paper is part I of writers' research about mechatronics motion control, the ultimate goal of this research addresses design, modeling, simulation, dynamics analysis and controller selection and design issues, of mechatronics single joint robot arm. where a electric DC motor is used and a control system is selected and designed to move a Robot arm to a desired output position, corresponding to applied input voltage, V in and satisfying all required design specifications.