Automatic Control “By Disturbance” Based on a Mechatronic Actuator

The evolution of a change in the design of a mechatronic mechanism with a sensitive element of an automatic control system “by disturbance” was shown based on an electrodynamic coupling mechanism. The sensing element converts the difference in torque on the input and output shafts of this coupling into an axial linear mechanical displacement of the driven coupling half relative to the driving one. This displacement was proportional to the difference between the above torques and can be used either as an information signal or as a control action in the automatic control system “by disturbance”. The advantage of automatic control “by disturbance” and constructive ways to increase the ratio of this displacement to the difference in the torques of the electrodynamic coupling were shown. For this purpose, the mechatronic mechanism designs were based on ball and cam couplings, as well as based on a ball-bearing screw converter with a range of regulation of the above axial displacement up to 2 mm, up to 8 mm, and up to 40 mm, respectively, were developed. Experimental data were presented to confirm the effectiveness of a mechatronic drilling system for small diameter (up to 5 mm) holes in aluminum alloy panels. Automatic control “by disturbance” for the torque value on the drill due to a change in the axial drilling force made it possible to eliminate burrs when drilling these holes.