Study of oscillatory processes in electromechatronic systems

In the article an analysis of oscillatory processes occurring in electromechanical and electromechatronic systems is presented. It has been shown that oscillations reflect the exchange of energy between accumulators via an active transmission channel. The oscillations reflect the exchange of energy between the storage devices via the active transmission channel. In mechanical systems, such accumulators are masses (moments of inertia), and the transmission channels are shaft lines. An electric motor is a universal converter of electromagnetic energy into mechanical energy and vice versa. It also contains two energy accumulators between which exchange is possible: the armature (rotor) winding, which contains electromagnetic energy, and the inertia on the shaft (the accumulation of mechanical energy). In the transmission channel, energy is converted from one form to another due to the presence of an excitation flow. The authors note that in electromechanical and electromechatronic systems, electromechanical vibrations are also possible, in addition to mechanical ones. Both internal viscous friction in the shafting and losses in the machine's anchor circle damp these vibrations. This article examines an electromechanical system that exhibits both types of oscillations. A unified structural diagram for any type of electromechanical electric drive system, as well as its mathematical model, is presented. A differential equation for the motor rotor motion with a stepwise increase in the control input signal was obtained. The values of the first derivatives at the initial instant were found. The damping coefficients and oscillation frequencies were determined. An electromechanical system was modeled in MATLAB/Simulink using a structural diagram with a constant electromagnetic motor torque and specified parameters. The logarithmic damping decrement was determined in the absence of mechanical damping and in the presence of shaft line losses. The reaction of the electromechanical system to the sudden appearance of a control action at the input is presented, as well as the reaction in the absence of mechanical damping and when the anchor is powered from a current source, from which it is evident that in the absence of internal viscous friction in the shaft line, mechanical vibrations are still damped due to internal viscous friction in the engine itself.