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Mechatronic analysis of the velocity control of a washing machine

A mechatronic analysis of the velocity control of a washing machine, aiming at the definition of a simple and semi-automatic tuning procedure, is presented in this paper. A model of the machine that includes an accurate description of the electrical aspects involved in the torque generation, as well as of the transmission chain, the load and the spring-damper system connecting the tub to the cabinet has been developed. Moreover, simple experimental procedures to identify the main mechanical parameters of the model of the machine are presented. Finally, the mechatronic analysis is used to propose a change in the mechanical design of the machine in order to simplify the tuning process.