T − 2955 − C DC Motor Calculation Sheet Ktp := 0.25 ⋅ ft ⋅ lb Lm := 11.0 ⋅ mH A Rm := 6.7 ⋅ Ω Ktp Kmp := Kmp = 0.097 Rm ft ⋅ lb W Amplifier parameters Vamp := 24 ⋅ V Iamp := 3.4 ⋅ A LOAD parameters Viscous friction Ti := 0 ⋅ ft ⋅ lb Tf := 0 ⋅ ft ⋅ lb deg 2 JT := 0.025 ⋅ ft ⋅ lb ⋅ s s ________________________________________________________ V KB := 0.34 ⋅ V KB rad Ktp rad = 32.273 ft 2 g = 32.174 s ft g = 1.356 2 s s s lb⋅ft A ___________________________________________________ DΘ := 0 ⋅ deg s , 10 ⋅ deg s .. 2000 ⋅ deg s Ktp ⋅ ( g) ⋅ DΘ ⎡ ⎤ ⎢ Vamp − ⎥ 1 Im( DΘ) := min⎢ , Iamp⎥ Rm ⎣ ⎦ XX := 0 ⋅ deg s , 10 ⋅ deg s Im⎛⎜ 1000 ⋅ ⎝ .. 1500 ⋅ deg ⎞ s ⎠ deg s = 2.699 A 2 Torque( DΘ) := Ktp ⋅ Im( DΘ) − Ti ⋅ DΘ − Tf ⌠ Time( XX) := ⎮ ⎮ ⎮ ⎮ ⌡ ⎛ Torque⎛ 0 ⋅ deg ⎞ ⎞ ⎜ ⎜ s ⎠ ⎝ = 77.452 W ⎜ K mp ⎝ ⎠ XX 0 1 ⎛ Torque( DΘ) ⎞ ⎜ JT ⎝ ⎠ dDΘ Accel( XX) := XX ( Time( XX) ) Accel⎛⎜ 1000 ⋅ ⎝ deg ⎞ s ⎠ 3 deg = 1.779 × 10 2 s 1 0.9 0.8 0.7 0.6 Torque( DΘ) ft⋅lb 0.5 0.4 0.3 0.2 0.1 0 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 DΘ 100⋅ deg s 2000 1937.5 1875 1812.5 Accel( XX) deg 2 s 1750 1687.5 1625 1562.5 1500 0 0.13 0.25 0.38 0.5 Time( XX) s 0.63 0.75 0.88 1 2000 1937.5 1875 1812.5 Accel( XX) deg 2 s 1750 1687.5 1625 1562.5 1500 0 2 4 6 8 10 12 14 16 XX 100⋅ deg s 15 12.5 10 XX 100⋅ deg 7.5 s 5 2.5 0 0 0.2 0.4 0.6 Time( XX) s 0.8 1