Gearmotor_move.

xls
To estimate inertia of gearmotor and find system optimal tran
By Alex Slocum, Jian Li, and Xue'en Yang
Last modified 02/18/04, by Xue'en Yang

Enters numbers in BLUE highlighted in yellow

Motor (torque and speed are NOT at absolute max values, but rather at max efficiency)
Rotor mass, Mr (grams, kg) 10 0.0100
Diameter, Dm (mm, m) 15 0.0150
Mength, Lm (inches, m) 12 0.0120
Number of drive motors, Nm 2
Nm Motors' rotary inertia, Jmotor (kg-m^2, g-mm^2) 5.63E-07 563
If known, enter motor inertia (else, enter "0"), Jm (kg-m^2, g-mm^2) 0.00E+00 0
Motor operating efficiency, etamotor 50%
Max motor torque, gammax (m-N-m, N-m) 3.5 0.0035
Max motor speed, wmax (rpm, rad/s) 38600 4042
Motor speed at maximum efficiency, wmaxeff (rpm, rad/s) 11500 1204
Steepness S (N-m-s/rad) -8.659E-07
Transmission (Planetary or known transmisssion ratio and inertia)
Planet carrier assembly mass Mplanet, (grams, kg) 2.1 0.0021
Planet carrier outer diameter, Dpod (mm, m) 20 0.0200
Planet carrier inner diameter, Dpid (mm, m) 10 0.0100
Number of stages, Nstage 2
Efficiency per stage, etastage 95%
Planetary total rotary inertia, Jplanets (kg-m^2) 2.63E-07
Output shaft mass, Mouts (grams, kg) 4 0.0040
Output shaft diameter, Douts 4 0.0040
Output shaft rotary inertia, Jouts (kg-m^2) 8E-09
Total Nm planetary transmissions' rotary inertia, Jtrans (kg-m^2) 5.41E-07
Transmisssion efficiency (includes car wheels), etatrans 86%
If known, enter transmission inertia (else, enter "0"), Jt (kg-m^2, g-mm^2) 3.94E-07 394
If known, enter transmission efficiency, etat (else enter "0") 0%
Car
Mass of car, Mcar (kg) 2.472
Diamter of wheel, Dwheel (mm, m) 100 0.1000
Number of wheels 4
Rotational inertia of one wheel, Jwheel (kg*m^2) 7.10E-05
Equivalent linear inertia of wheels,mwheel 1.14E-01
Max wheel angular acceleration, wwacc (rad/s^2) 10.44
Max car acceleration, acar (m/s^2, g) 0.52 0.05
External loads, friction... Fext (N) 0
2Wd or 4WD, Nwd 4
Coefficient of friction wheel-to-ground, mu (static friction coefficient) 0.24
Coefficient of dynamic friction fk 0.0401
Optimal Transmission ratio by Matched Inertia Doctrine
Optimal transmission ratio, ntrans 80
Confirm: Number of stages = # required to achieve desired ntrans yes
Actual transmission ratio to be used, r_t 20
 Actual equivelent linear inertia of motor and tranny, mtrans (kg) 0.2
Total actual sysetm equivelent inertia, Mtotal (kg) 2.7
Total inertia, Jtotal 6.85E-03
Power rates
Motors' total power rate, PRmotor 51.23
Load power rate, PRload 0.67
System goodness (should be >1): PRmotor/(4PRload/etatrans) 16.31
Triangular Velocity Profile Motion Results
Start-to-stop travel distance, Xdes (m) 4.68
Max. potential tractive effort (even mass distribution), Ftraction (N) 5.8
Max. motor tractive effort (even mass distribution), Ftractive (N) 2.40
Can wheels slip? no
Net steepness (Sbar) -5.94E-04
Net torque (Gammabar) 0.07
Maximum theoretical car speed vmaxpot (m/s) 10.11
Maximum analytical car speed, vmax (m/s) 6.02
Car speed at max motor h, vmaxeff (m/s) 3.01
Time to accelerate to speed at max motor h (theoretical), taccel (seconds) 4.08
Distance travelled during acceleration to vmaxeff, Xaccel (m) 3.87
Taylor series prediction of time to accelerate & deccelerate to Xdes
Time to travel the desired travel distance (full speed at end of move) 4.24
Time to travel the desired travel distance (stop at end of move: triangular velocity profile) 5.99
Battery Requirements
Estimated maximum power draw from batteries, Pbat (W) 16.86
Estimated maximum energy draw from batteries, Ebat (J=N-m) 71.4

List of Equations Used

max
S 
ωmax
J total  nwheelJ w  mcarrw2  rt 2 ( J trans  J m otor)

m otor   m ax ωm oto r  m ax  Sωm oto r  m ax
ωm ax

ωm otor
ωw _ acc 
rt
ωw _ a cc ηd rivenm o torrt ( Sωw _ a ccrt  m ax )   friction  F p u shrw
ξ a cc  
t J tota l

w _ acc S w _ acc   max

acc   , where
t J total
max  ηdrivenmotorrmax   friction  Fpushrw , and
 w _ a cc d rive m o tor t w _ a cc t m ax friction p u sh w
ξ a cc  
t J tota l

w _ acc S w _ acc   max

acc   , where
t J total
max  ηdrivenmotorrmax   friction  Fpushrw , and

S  ηdrivenmotorrt 2 S

  S  
 max exp  t   1
  J total  
w _ acc 
S

max
 w _ acc _ max  
S
max
Vcar _ max  ωw _ accrw   rw
S

max  S 
ξ acc  exp t 
J total J
 total 
max
ξ acc _ max 
J total
J to ta l  ωw _ a ccS  J  ωw _ acc 
t ln  1  to ta l ln    1
S  m ax  S  ωw _ a cc_ m ax 
   

t
rw  max  J total  S  J 
d car   rww _ acc dt   exp  t   total  t 
0
S  S  J total  S 

rw J total  max   rw J total  max rw

2 3
S 1 S  1 S 
d car   1  t   t   t   ...  2

S2  J total 2!  J total  3!  J total   S

rJ  1  S 
2
1 S 
3

 w total2 max   t   t   ...
S  2!  J total  3!  J total  

2
rw J total  max  S  2 rw  max 2 S
 rw J total  max  S 1 S  1 S   rw J total  max rw
d car  1  t  t   t   ...  2

S 2
 J total 2!  J total  3!  J total   S

rJ  1  S  1 S
2

3

 w total2 max   t   t   ...
S  2!  J total  3!  J total  

2
r J   S  2 rw  max 2 S
d car  w total 2 max   t  t , for t 1
2S J
 total  2 J total J total

2 J to tald car
t
rw m ax

J tota ld car
t full _ trian gle  2
rw m ax
tor_move.xls
d find system optimal transmission ratio
an Li, and Xue'en Yang
18/04, by Xue'en Yang

hlighted in yellow, Results in RED

Descriptions
Given
Given
Given
Enter number of drive motors
=Nm*0.5*Mr*(Dm/2)^2
Enter motor inertia in g-mm^2 if different than above
Given
Given
Given
Given
See Eq (1)

Given
Given
Given
Nstage=2 for transmission ratios 1:16 and 1:20; Nstage=3 for 1:25 and 1:100; =4 for 1:400
Given
=0.5*Nstage*Mplanet*((Dpod/2)^2+(dpid/2)^2)
Given
Given
=0.5*Mouts*(Douts/2)^2
=Nm*(Jplanets+Jouts)
=etastage^(Nstage+1): drive train efficiency
Enter transmission inertia if different
Enter drive train efficiency if different

Enter mass of car in kg

Given
Enter number of wheels
Given from simulation results
=Jwheel*Nm/rwheel^2
See Eq(12)
=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
fk=force required to move the car (with transmission detached) in constant speed/weight of car

Enter transmission ratio to be used

 = 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*t

(1)

(2)

(3)

(4)

 F pu shrw
(5)

(6)

(7)
 pu sh w
(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)


t (15)


 rw J total  max rw  max

 2
 t
 S S

(16)
 rw J total  max rw  max
 2
 t
 S S

(16)

(17)

(18)

(19)