DEVELOPMENT AND ANALYSIS OF A KINEMATIC-DYNAMIC MODEL OF A ROTATING-DISC MECHATRONIC SYSTEM
Keywords:
mechatronic system, rotating disc, kinematic model, dynamic model, moment of inertia, DC motor, gear transmission, transfer function, angular velocity, torque, stability.Abstract
This study develops a kinematic and dynamic model of a rotating-disc
mechatronic system designed to promote a uniform layer-by-layer distribution of
microclimatic parameters during incubation. The computational configuration
comprises a central shaft, horizontal discs, vertical supports, payload, and a DC
motor. The motion cycle is divided into acceleration, constant-speed, and deceleration
phases; the trapezoidal angular-velocity profile and the time variation of angular
position are analyzed. The total moment of inertia of the rotating components is
determined, and the Newton–Euler equation is formulated using the equivalent inertia
reflected to the motor shaft through the gear transmission. The mechanical model is
coupled with the electrical equation of the DC motor to derive transfer functions from
the input voltage to angular velocity and angular position. The model is evaluated in
terms of drive transient response, pole locations, stability, torque, and power
requirements. The results provide a computational basis for implementing periodic
180° disc rotation in an energy-efficient cyclic operating mode and for selecting the
drive parameters on a rational engineering basis.
