Modeling and Simulation of Nonlinear Dynamics for Coupled Motor-Reducer Systems Based on Bond Graph

In order to effectively explore the dynamic characteristics of coupled electromechanical systems, it is necessary to consider the electrical and mechanical systems as a whole for comprehensive consideration. However, since the electrical systems as well as the mechanical systems exhibit strong nonlinearity, it is not only difficult to express the physical process mathematically, but also complicated to solve the equations using traditional dynamics modeling methods. For this reason, the dynamics modeling and simulation of the motor-reducer coupled systems are carried out in this paper based on the bond graph theory. By considering the time-varying gear mesh stiffness, static transmission error, tooth surface friction, motor bearing stiffness damping and other factors, the gear sub-bond graph model and motor bond graph model are constructed. Then the dynamics model of motor-reducer coupled systems is obtained and the system state equation is also derived. The simulation analysis of the gear pair dynamics model and the motor-reducer coupling dynamics model are carried out by using 20-sim, a special software for bond graph, respectively. This paper can lay the foundation for the design and analysis of coupled motor-reducer systems and complex systems in multi-domain.