Measurement and Modelling of a Cycloidal Gearbox in Actuator with Permanent Magnet Synchronous Machine
Viktor Šlapák,
Jozef Ivan,
Karol Kyslan,
Matúš Hric,
František Ďurovský,
Dušan Paulišin,
Marek Kočiško
Affiliations
Viktor Šlapák
Department of Electrical Engineering and Mechatronics, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia
Jozef Ivan
Department of Electrical Engineering and Mechatronics, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia
Karol Kyslan
Department of Electrical Engineering and Mechatronics, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia
Department of Electrical Engineering and Mechatronics, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia
Compact geared servo drives are a common part of modern industrial automation; thus, their proper modelling is a necessary part for the application and control design. The presented paper focuses on the mathematical model of the cycloidal gearbox, which is used in the compact actuator with a permanent magnet synchronous motor. A measurement procedure to obtain the necessary gearbox parameters is presented along with its mathematical model. A new approach was used to model the stiction and nonlinear gearbox friction behaviour in all four quadrants. A simulation of the actuator with the modelled gearbox is described and its results are compared with the real system measurement. Obtained results show a high match between simulation and experimental results and confirm the correctness of the simulation model.
