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dynamic modelling and simulation of ball mills

According to Figure 1, thedynamic modelof theball millis where is the rotation resistance coefficient of the drive motor, is the friction torque, and the rotation direction of theball millis determined by the sign function sign(). When the rotational speeds of the clutch are synchronised, i.e., =, the clutch no longer slips. Thedynamic modelcan be written as follows:

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