Multi-physics model of DC micro motors for dynamic operations

Dynamic regime mechatronic devices equipped with micro-DC-motors are characterized by a stick-slip motion during the majority of their working life. An in-depth analysis of the contribution of all the different friction components represents a prerogative for an accurate design in such mechatronic applications. The paper considers a revaluation of the classic DC-motor characterization model, through a different approach based onto a co-simulation multi-physics numerical model and through a different analysis of the internal friction phenomena. The model is developed through a novel evaluation approach of the mechanical and electrical behavior, respectively through a multibody analysis and an equivalent circuit model analysis. The kinematic and dynamic responses, as well as the estimation of electrical absorption parameters obtained by the numerical co-simulation model, are validated through indirect experimental measurements obtained from two micro-DC motors, different in dimensions and performances and powered with different voltages.