Connecting DC motor to a revolute joint

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Vicente Casanova
Vicente Casanova 2021-3-20
回答： Vicente Casanova 2021-11-18
Hi
I'm trying to interface the DC motor block (Simscape Electrical) to a revolute joint (Simscape Multibody). The aim is to develop a simulation model for a Pendubot.
Following several examples I think (I hope) I've made the connection properly, including the Rev-Rot interface to feedback the joint velocity into the DC motor but I have a doubt. If I want to change the friction, where is the right place to do it?. I've noticed that I can change the damping coefficient in the revolute joint (which is what I usually do) but it can be changed in the mechanical parameters of the DC block. (Rotor inertia).
Find attached a zip file with the simulink model and the stp files. Don't mind the commented blocks, just trying to model the motor non-linearity.
Thanks for your help.
Best regards

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采纳的回答

Juan Sagarduy
Juan Sagarduy 2021-3-22
Hi Vicente
It shall work in both cases, but it is more natural to do it on the Simscape side (DC actuator). This makes sense if u wanted to add friction later on.
Good luck Juan
  2 个评论
Vicente Casanova
Vicente Casanova 2021-3-24
Thank you, Juan for you answer.
That's what I thought but there must be any difference. The parameter in the DC motor (rotor inertia) is mesured in Kg*m2 (momentum of inertia) and the one in the joint (damping coefficient) is measured in N*m/(deg/s) (viscous friction). I guess there must be some kind of equivalence. I mean, if the damping coefficient is e.g. 0.0001, which is the value of the rotor inertia to get the same results?.
Best regards
Thi Pham Duy
Thi Pham Duy 2021-11-17
编辑：Thi Pham Duy 2021-11-17
hello friend, if I want to add a coefficient of friction for the DC motor, how can I add it. I hope you can reply

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更多回答（1 个）

Vicente Casanova
Vicente Casanova 2021-11-18
I usually adde the friction in the damping coefficient of a revolute joint (Simscape Multibody) connected to the motor. But I'm not really sure if it is the right form to do it.

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