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