Table 2 Key parameters of simulation model
Signal | Value/Unit | Signal | Value/Unit |
|---|---|---|---|
\(K_{vs}\)(\(K_{vl}\)) | 1.74 A/V | \(J_{s}\) | 0.000304 kg·m2 |
\(K_{Ps}\)(\(K_{Pl}\)) | 10 V/A | \(K_{t}\) | 1000 N·m·rad |
\(K_{s}\)(\(K_{l}\)) | 0.8218 N·m/A | \(R_{f}\) | 0.1 Ω |
\(K_{fs}\)(\(K_{fl}\)) | 1 | \(L_{a}\) | 0.00012Â H |
\(L_{s}\)(\(L_{l}\)) | 0.0012 H | \(B_{s}\) | 0.00202 N·m·s/rad |
\(R_{s}\)(\(R_{l}\)) | 1.53 Ω | \(R_{a}\) | 0.2 Ω |
\(C_{s}\)(\(C_{l}\)) | 0.2779 V·s/rad | \(K_{a}\) | 1 V/N·m |
\(G_{a}\) | 16.5 mm/rad | \(K_{i}\) | 0.0151 N·m/A |
\(J_{c}\) | 0.0255 kg·m2 | \(B_{c}\) | 0.038 N·m·s/Rad |
\(G_{P}\) | 6.3694 | \(K_{P}\) | 10029Â N/mm |
\(r_{P}\) | 0.005Â m | \(\eta_{P}\) | 100% |
\(J_{l}\) | 0.00290 kg·m2 | \(B_{l}\) | 0.0102 N·m·s/rad |
\(r_{r}\) | 0.001Â mm | \(\eta_{P}\) | 80% |
\(G_{r}\) | 5Â mm/rad | \(\omega_{thre}\) | 0.5Â rad/s |
\(F_{f\max }\) | 500Â N | \(k_{FV}\) | 0.001Â V/N |
p | 1 | i | 8 |