On Synthesis of Electromechatronic Module of the Gearless Servo System for High-Precision Motion Control of the Loaded Axis

The paper analyses the torque characteristics, angular errors, natural frequencies, and finite elasticities of electromechatronic module within gearless servo system with coaxially arranged multi-pole brushless DC torque motor and high-precision induction resolver. We provide analytical expressions and describe conditions for optimization with regard to the following criteria: sufficient torque, minimized angular errors, downsized construction, and absence of resonant frequencies as applied to principal and design solutions of the module. The results from calculation studies for module implementations with different types of torque motors are discussed.