On electrical analogues of mechatronic systems

The features of the methods of finding the electrical analogues for mechatronic systems are described. The superiority of the velocity-voltage analogy over the velocity-current analogy is proved. On the basis of analysis of electromagnetic processes it is shown that the velocity-voltage analogy could be called the natural analogy between mechanical and electrical systems. Application of this analogy makes the process of transformation of a mechatronic system into an electric circuit relatively simple, as it preserves the parallel/serial internal structure of elements in both systems. Also a full correspondence of transient states in both systems is preserved. It is pointed out why the natural analogy is useful in analysis of the different phases of movement in walking machines as well as in impedance control.