Pre-determination by simulation of dynamic regime for direct current motors

The performances of an electrical machine driving a robot can be described by dynamic and energetic characteristics, on one hand, and by the gauge dimensions, on the other hand. The minimum and maximum operation speed, the speed range, the response time, the noise level, the reliability and the cost price are decisive elements for the economic and technical success of a constructive solution for a motor. This thing can be carried out with the help of the electronic computer on the basis of some adequate programs, which arc to lead to an economic fabrication and utilization of the robot driving electrical equipments. The motor behaviour is studied when it is supplied with a voltage modifying by an imposed law, at constant or variable resistant torque etc., by considering that in such cases the machine inductances are variable with the magnetic saturation. This paper presents computer simulations and experimental determinations for establishing the dynamic regime performances of drives having direct current motors used for industrial robots.