Gearmotor_move.

xls
To estimate inertia of gearmotor and find system optimal transmi
By Alex Slocum, Jian Li, and Xue'en Yang
Last modified 03/21/06, by Alex Slocum
Enters numbers in BLACK or BLUE highlighted in yellow
Motor (torque and speed are NOT at absolute max values, but rather at max efficiency)
Rotor mass, Mr (grams, kg)
Diameter, Dm (mm, m)
Mength, Lm (mm, m)
Number of drive motors, Nm
Nm Motors' rotary inertia, Jmotor (kg-m^2, g-mm^2)
If known, enter motors' total inertia (else, enter "0"), Jm (kg-m^2, g-mm^2)
Motor operating efficiency, etamotor
Max motor torque at zero velocity, gammax (mN-m, N-m)
Max motor speed, wmax (rpm, rad/s)
Steepness S A64
Motor speed at maximum efficiency, wmaxeff (rpm, rad/s)
Single motor torque at maximum efficiency (mN-m)
Motor mechanical power at maximum efficiency (W)
Electrical power required from voltage source to operate one motor at maximum efficiency (W)
Transmission (Planetary or known transmisssion ratio and inertia)
Planet carrier assembly mass Mplanet, (grams, kg)
Planet carrier outer diameter, Dpod (mm, m)
Planet carrier inner diameter, Dpid (mm, m)
Number of stages, Nstage (Tamiya planetary stage)
Efficiency per stage, etastage
Planetary total rotary inertia, Jplanets (kg-m^2)
Output shaft mass, Mouts (grams, kg)
Output shaft diameter, Douts
Output shaft rotary inertia, Jouts (kg-m^2)
Total Nm planetary transmissions' rotary inertia, Jtrans (kg-m^2)
Transmisssion efficiency (includes car wheels), etatrans
If known, enter transmission inertia (else, enter "0"), Jt (kg-m^2, g-mm^2)
If known, enter transmission efficiency, etat (else enter "0")
Car
Mass of car, Mcar (not including wheels) (kg)
Diamter of wheel, Dwheel (mm, m)
Number of wheels, Nwheel
Rotational inertia of one wheel, Jwheel (kg*m^2)
Equivalent linear inertia of wheels, mwheel (kg)
Max wheel angular acceleration, wwacc (rad/s^2)
Max car acceleration, acar (m/s^2, g)
External loads, friction... Fext (N)
2Wd or 4WD, Nwd
Coefficient of friction wheel-to-ground, mu (static friction coefficient)

Coefficient of dynamic friction fk

Optimal Transmission ratio by Matched Inertia Doctrine
Optimal transmission ratio, ntrans
Confirm: Number of stages = # required to achieve desired ntrans
Actual transmission ratio to be used, r_t
Actual equivelent linear inertia of motors and transmissions mtrans (kg)
Total actual sysetm equivelent inertia, Mtotal (kg)
Total inertia, Jtotal (kg-m^2)
Power rates
Motors' total power rate, PRmotor
Load power rate, PRload
System goodness (should be close to 1, see page 7-17): PRmotor/(4PRload/etatrans)
Triangular Velocity Profile Motion Results
Start-to-stop travel distance, Xdes (m)
Max. potential tractive effort (even mass distribution), Ftraction (N)
Max. motor tractive effort at zero velocity (even mass distribution), Ftractive (N)
Can wheels slip?
Net steepness, Sbar (N-m-s/rad)
Net torque available for accelerating the vehicle, Gammabar (N-m)
Maximum theoretical car speed vmaxpot (m/s)
Maximum actual possible car speed, vmax (m/s)
Car speed at max motor , vmaxeff (m/s)
Time to accelerate to speed at max motor (theoretical), taccel (seconds)
Distance travelled during acceleration to vmaxeff, Xaccel (m)
Taylor series prediction of time to accelerate & deccelerate to Xdes (use MatLab script GRopt for "exact" prediction)
Time to travel the desired travel distance (full speed at end of move), t
Time to travel the desired travel distance (stop at end of move: triangular velocity profile), tstop
Battery Requirements
Estimated maximum power draw from voltage source (e.g., battery) Pbat (W)
Estimated maximum energy draw from voltage source (e.g., battery) Ebat (J=N-m) (full speed at end of move)
Estimated maximum energy draw from voltage source (e.g., battery) Ebat (J=N-m) (full speed at end of move)
List of Equations Used

max
max

J to tal nwheelJ w mcarrw2 rt2 ( J tran s J m o tor)

m otor m ax m oto r m ax Sm oto r m ax

m ax

m otor
rt
w _ acc d rivenm otorrt ( Sw _ a ccrt m ax ) frictio n F pushrw

w _ acc

J to tal nwheelJ w mcarrw rt ( J tran s J m o tor)

m otor m ax m oto r m ax Sm oto r m ax

m ax

m otor
rt
w _ acc d rivenm otorrt ( Sw _ a ccrt m ax ) frictio n F pushrw
acc

t
J tota l
w _ acc

acc

w _ acc
t

S w _ acc max
J total

, where

max drivenmotorrmax friction Fpushrw , and

S drivenmotorrt 2 S

w _ acc

S
max exp
J total

w _ acc _ max

max
S

Vcar _ max w _ accrw

acc

max
rw
S

S
m ax
exp
t
J total
J
total

acc _ max
t

t 1

max
J total

w _ a cc
J to ta l w _ a ccS
J
ln
1 to ta l ln
1
w _ a cc_ m ax
m ax

S
S

d car rww _ acc dt

0

rw max
S

J total
S
exp

J total
S

J
t total t
S

w _ a cc
J to ta l w _ a ccS
J to ta l

t
ln
1
ln
1

S
S
w _ a cc_ m ax
m ax

d car rww _ acc dt

0

d car

S
rw max J total
exp

S S
J total

rJ
S
1 S
w total2 max 1
t
S
J total
2! J total

rJ
w total2 max
S

1 S

2! J total

d car

rJ
w total 2 max
2S

2 J totald ca r
rw m ax

t full _ triang le 2

J total

J totald car
rw max

1
S

t
3!
J total

t2

J
t total t
S

1
S

t
3!
J
total

rw J total max rw

...
2
S

...

rw max 2
S
t , for
t 1
2 J total
J total

motor_move.xls
r and find system optimal transmission ratio
m, Jian Li, and Xue'en Yang
03/21/06, by Alex Slocum

LUE highlighted in yellow, Results in RED

Descriptions
10
15
12
4
1.13E-06
0.00E+00
50%
8.4
38600
-2.08E-006
11500
5.90
7.10
14.20
2.1
20
10
3
95%
3.94E-07
4
4
8.000E-009
1.61E-06
81%
0.00E+00
0%
2.5
75
4
3.69E-05
1.05E-01
129.85
4.87
0
4
0.8

0.0100 user defined

0.0150 user defined
0.0120 user defined
Enter number of drive motors
1125 =Nm*0.5*Mr*(Dm/2)^2
0 Enter motor inertia in g-mm^2 if different than above
user defined (motor mechanical ower/motor efficiency = power drawn
from voltage source)
0.0084 user defined
4042 user defined
See Eq (1)
1204 user defined

0.0021 user defined

0.0200 user defined
0.0100 user defined
Tamiya Planetary system: Nstage=2 for transmission ratios 1:16,
1:20; Nstage=3 for 1:80 and 1:100; Nstage=4 for 1:400
Given
=0.5*Nstage*Mplanet*((Dpod/2)^2+(dpid/2)^2)
0.0040 user defined
0.0040 user defined
=0.5*Mouts*(Douts/2)^2
=Nm*(Jplanets+Jouts)
=etastage^(Nstage+1): drive train efficiency
0 Enter transmission inertia if different
Enter drive train efficiency if different
Enter mass of car in kg
0.0750 Given
Enter number of wheels
From solid model of wheel (see worksheet for 3" wheel)
=Jwheel*Nm/rwheel^2
See Eq(12)
0.50 =wwacc*rwheel
Enter the external load, or the push force
Enter 2 for 2-wheel drive, 4 for 4-wheel drive
mu=force required to move the car/weight of car

0.0401
36
yes
32
2.0
4.6
6.46E-03
413.24
59.27
1.42
0.5
19.60
23.35

yes
-6.93E-03
0.84
4.74
4.54
1.41
0.33
0.24
r "exact" prediction)
0.45

riction

fk=force required to move the car (with transmission detached) in

constant speed/weight of car

0.64

56.82
36.4
25.7

Enter transmission ratio to be used: Try different ones and study the
effect! The relation is not linear because of motor torque-spee curve!
= r_t^2*(Jtrans+Jmotor)/rwheel^2
=mtrans+Mcar+mwheels
See Eq(2)
=Nm*(gammax^2/(Jtrans+Jmotor)/Nm))
=(Mcar*acar+Fext)*acar
=PRmotor/(4*PRload/IF(etat>0, etat,etatrans))
Enter desired travel distance
Traction force when the wheels slip
Maximum motor traction force
The wheels will slip if the static traction force is less than the maximum
motor traction force
See Eq(8)
See Eq(7)
=(Dwheel/2)*(wmax/r_t)
See Eq(11)
=(Dwheel/2)*(wmaxeff/r_t)
See Eq(14)
See Eq(15)
See Eq(18)
If the car accelerates, decelerates and then stops at a distance Xdes,
estimate using Eq(19)

=vmaxeff*MIN(Ftractive, Ftraction)/(etamotor*IF(etat>0, etat,etatrans))

=Pbat*tstop
=Pbat*t

(1)
(2)
(3)

(4)
F p ushrw

riction

(2)
(3)

(4)
F p ushrw

(5)

(6)
(7)
(8)

(9)

(10)
(11)

(12)
(13)

(14)

t
S

(15)

otal

(14)

t
S

(15)

otal

rw J total max rw max

t
...
2
S
S

(16)

(17)

(18)

(19)