Abstract:A mechanical system is considered that consists of a rotating base and a rigid body which can rotate with respect to the base around the axis coinciding with the axis of the base rotation. The control of the body's motion with respect to the base is performed using a direct (high torque) electric drive. The voltage applied across armature circuit terminals of the motor serves as a control variable. A dynamical model of the system is proposed that takes into account the friction moment in the rolling bearings w… Show more
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