On Methods for Taking into Account Drive Dynamics when Modeling Mechatronic Systems

The presence of an adequate mathematical model, including all mechatronic system components, creates conditions for the most economical implementation for the potential device capabilities. Such a mathematical model must make it possible to minimize the actuator drives number, reduce the measurement information amount (the number of measuring sensors) and analyze transient processes in actuator drives. One of the main conditions for the drive operability is the rapid transient processes attenuation, which can be ensured the given operating mode. This paper discusses the nonlinear mathematical models obtaining methods by using rigorous methods for the stabilization controlled dynamics problems of mechatronic systems with geometric connections, taking into account the dynamics of actuator electric drives. Examples the analytical mechanics application to reduce the model dimensionality for the specified class mechanical component mechatronic systems are given. The conditions for further simplification of the control problem through the nonlinear stability theory application are investigated. The requirements for the mathematical models accuracy of mechanical components and control loops were analyzed. The nonlinear dynamics modeling example of the nonlinear dynamics modeling for the Delta robot with two actuator drive options is given: brushed DC motors and twophase stepper motors with a magnetized rotor.