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According to Figure 1, the dynamic model of the ball mill is where is the rotation resistance coefficient of the drive motor, is the friction torque, and the rotation direction of the ball mill is determined by the sign function sign().. When the rotational speeds of the clutch are synchronised, i.e., =, the clutch no longer slips. The dynamic model can be written as follows:
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The present invention is directed toward a material handling, processing and milling facility which utilizes ball milling as a means for material grinding, mixing or mechanical alloying of materials. The system includes an automatic ball charging, agitating and indexing assembly, constructed and arranged to deagglomerate and directly distribute a plurality of grinding balls to the facility.