# Myostat

## Handling High Inertia Mis-matches - Cool Muscle CM2

Mark's Moment on the Actuator

The team at Myostat Motion Control pulled together this quick reply to a challenge from one of our partners.

Their request was for a motor solution that would run at 18 inches per second and handle an inertia mis-match of 18:1.

We demonstrated the target speed at over 1000:1, direct drive on a belt system. With Mark wobbing around on the carriage of the belt drive, likely the actual inertia seen by the motor was far greater.

For those that are interestedm our math on this run looks like this:

 JMark= MR2 moment of a point mass @ the distance from the primary axis = 81.81kg x 0.02387m ^2 = 0.046630772 kg.m2 Jmotor= 0.34 x 10-4 moment of inertia for 60A40C = 0.000034 kg.m2 Inertia mismatch= JMark/Jmotor = 1371.493295 The above mismatch only includes Mark. It does not include the inertia for the belt and the two pulleys Speed and Acceleration in Test S1= 50 S1 speed register value = 300 rpm = 29.52747 inches/second (top speed) A1= 6 A1 acceleration value used (Kpps^2) P1= 5946 pulses = 0.8919 m = 35.11406732 inches Therefore motion time = 2.02 seconds for total motion time Average speed = 17.38320165 inches per second