The complexity of an electrical drive is such that its global study represents a difficult task at the design level as well as at the application level. To lighten this task, it is common practice to perform some simplifications; linearization of some characteristics, lumping of the distributed inertia of mobile parts with that of the motor rotor, etc. Because of the finite stiffness in the links between different parts of the mechanism in some types of drive (mills, large mobile structures, flexible robotic limbs, etc.), it becomes, important to realize a multi-mass model of such a mechanism.
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