Control of mechatronic drives considering the type and number of the nonlinearities of a mechanical converter

In this article the particularities of the dynamics study of mechatronic drives that operate at low velocities are discussed; the origins of frictional self-exited oscillations to develop an algorithm for non-linearity correction are analyzed; a drive mathematical model and the qualitative picture of the self-exited oscillations regimes were presented for the three cases: a "system with clearance and friction-free"; a system without clearance with "dry friction" and a system with clearance and "dry friction". Therefore, an algorithm to compensate the frictional self-excited oscillations based on the feedback introduction for the sliding velocity of the linear motion output link was proposed