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2021

2021

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“…where V q i , V d i , i q i and i d i are the quadrature and direct voltages and currents of the i-th motor, J i and J ss are the motors and the screwshaft inertias, m ss and m o are the screwshaft and output shaft masses, R is the motors phase resistance, L d and L q are the motors inductances in the rotor frame (which are identical in the reference EMA, because the PMSMs have surface-mounted magnets), k t is the motors torque constant, n d is the number of motors pole pairs, F e is the external load, k m and d m are the stiffness and damping referred to the roto-translating motion deformation of the m-th screw-nut coupling (with m = 1, 2, 3), while T fr i , ω fr i , F fr o and v fr o are the parameters of the "Coulomb-tanh" friction models related to the i-th motor and the output shaft, respectively. iron losses in the motor [53,54], but the inclusion of these model features would entail minor effects for the examined application. In particular, the mechanical freeplay, due to the screw-nut couplings preload, was extremely small in the reference EMA and its contribution in the model would have been poor.…”

confidence: 99%

“…where V q i , V d i , i q i and i d i are the quadrature and direct voltages and currents of the i-th motor, J i and J ss are the motors and the screwshaft inertias, m ss and m o are the screwshaft and output shaft masses, R is the motors phase resistance, L d and L q are the motors inductances in the rotor frame (which are identical in the reference EMA, because the PMSMs have surface-mounted magnets), k t is the motors torque constant, n d is the number of motors pole pairs, F e is the external load, k m and d m are the stiffness and damping referred to the roto-translating motion deformation of the m-th screw-nut coupling (with m = 1, 2, 3), while T fr i , ω fr i , F fr o and v fr o are the parameters of the "Coulomb-tanh" friction models related to the i-th motor and the output shaft, respectively. iron losses in the motor [53,54], but the inclusion of these model features would entail minor effects for the examined application. In particular, the mechanical freeplay, due to the screw-nut couplings preload, was extremely small in the reference EMA and its contribution in the model would have been poor.…”

confidence: 99%

“…It is worth noting that the proposed model represents a balance between prediction accuracy, objectives of the study and complexity of the model itself. More accurate simulations could include mechanical freeplay [30], sophisticated friction models [51,52] and iron losses in the motor [53,54], but the inclusion of these model features would entail minor effects for the examined application. In particular, the mechanical freeplay, due to the screw-nut couplings preload, was extremely small in the reference EMA and its contribution in the model would have been poor.…”

confidence: 99%