2-D Lumped parameters modelling of EMAs for advanced virtual prototyping of EMAs
Résumé
The system level modeling of electromechanical actuators is addressed with two key ideas: to considerer globally linear and rotational power flows for any component of the actuator and to developed fully balanced models from the mechanical and energy points of view. The model decomposition into basic components/effects is firstly proposed in order to enable getting the same graphical topology as the actuator cut-view. Then, a generic 2-D submodel is introduced using the Bond-graph formalism with special considerations to structure, interfaces and causalities. Examples are given for nut-screws, bearings and joints, epicyclic reducers, dog-tooth endstops and bodies' assemblies. When relevant, compliance, friction and inertia are introduced in the models as lumped effects that alter the functional propagation of mechanical power.