抄録
When one is interested in the dynamics of a mechanical system with electric motors, the force generate by the motor is generally considered as only an applied torque or force independent of mechanical state variables such as velocity. For a system operated in non-steady dynamic conditions, however, the usual analysis approach may fail to predict some characteristics in the dynamic behaviors because of electromechanical coupling effects. In the paper, we propose an approach in which dc motor dynamics with the electromechanical coupling effects are embedded to mechanical dynamics models. The dc motor is modeled based on Its equivalent circuit model and included in the dynamics solving algorithm which we developed before, called generalized recursive dynamics formula. Our dynamic analysis model is effective and realistic for analysis of electro-mechanical dynamics of a system with dc motors. The developed analysis model is evaluated by constructing and simulating a robot system driven by dc motors.
