Efficient Simulation of Single Degree of Freedom Servomechanisms for Automatic Machines

An automatic manufacturing system design must be optimized with a simulation including all the interacting devices. The simulation should be controlled by the real control system with a hardware in the loop approach. So the techniques for modeling the mechanisms must be effective for the model to be run without violating the real-time protocol. This paper reports a method to model the motor load by means of a reduced moment of inertia, where all the part downstream from the motor output shaft is transformed in function of the only one mechanism degree of freedom. The resulting model behaves as the real nonlinear mechanism, but it is computationally efficient since it is not ruled by the multibody 3D CAD mathematics.