Manufacturing Equipment Modeling


 Basil Tyler
 2 years ago
 Views:
Transcription
1 QUESTION 1 For a linear axis actuated by an electric motor complete the following: a. Derive a differential equation for the linear axis velocity assuming viscous friction acts on the DC motor shaft, leadscrew, and linear axis (i.e., B m 0, B l 0, and b a 0) and that the motor has velocity feedback such that the input voltage to the amplifier is e(t) = e c (t) K tach ω m (t). Include the axis disturbance force, but do not include motor electrical dynamics or Coulomb friction torques acting on the motor shaft or leadscrew. b. Determine the time constant for this system. c. For a constant command voltage with magnitude E c and a constant disturbance load with magnitude F L, determine the steady state velocity. d. Determine the steady state gains from axis velocity to command voltage and from axis velocity to load force. e. Draw a block diagram of the electric linear axis system. QUESTION 2 For a spindle actuated by an electric motor complete the following: a. Derive a differential equation for the spindle angular velocity assuming viscous friction acts on the motor and spindle and that the motor has velocity feedback such that the input
2 voltage to the amplifier is e(t) = e c (t) K tach ω m (t). Include the spindle load torque, but do not include motor electrical dynamics or nonlinear friction torques. b. Determine the spindle system time constant. c. For a constant command voltage with magnitude E c and a constant load torque with magnitude T L, determine the steady state angular velocity. d. Determine the steady state gains from spindle angular velocity to command voltage and from spindle angular velocity to load torque. e. Draw a block diagram of the electric spindle system. QUESTION 3 Two trials are run for a spindle system. The outputs are given in Figure 1. Approximate the spindle system model parameters (i.e., τ, K, and K d ) for the model given in equation (1). () t + ω ( t) = Ke ( t) K T ( t) τω (1) s s c d d Page 2
3 spindle speed (rad/s) T d = 0 N m T d = 25 N m time (s) Figure 1: Spindle System Output with e c (t) = 8 V. QUESTION 4 For a rotational axis actuated by a hydraulic motor complete the following: a. Derive differential equations relating rotational axis angular velocity and load pressure to valve displacement, disturbance torque, and motor shaft Coulomb friction. Include motor shaft and fluid viscous friction, fluid Coulomb friction, leakage effects, and rotational axis disturbance torque. b. For a constant command voltage, disturbance torque, and motor Coulomb friction torque, determine the steady state angular velocity and load pressures. c. Determine the steady state gains from axis angular velocity to command voltage, disturbance torque, and motor Coulomb friction. d. Determine the steady state gains from load pressure to command voltage, disturbance torque, and motor Coulomb friction. Page 3
4 e. Draw a block diagram of the hydraulic rotational axis system. QUESTION 5 A spindle has a mass moment of inertia of J s = kg m 2 and is connected to a DC motor having the following parameters: J m = kg m 2, R = 5 Ω, K t = 0.7 N m/a, K v = 0.7 V/(rad/s), and K a = 30. The maximum command voltage is e c = 10 V. Complete the following: a. Select the gear gain K s such that the maximum steady state spindle speed, without disturbance, will be ω ss 250 rad/s and the maximum change in spindle speed due to a disturbance torque of 10 N m will be 10 rad/s. b. Determine the time constant. QUESTION 6 For a linear axis actuated by an electric motor complete the following a. Derive a differential equation relating linear axis velocity to command voltage, disturbance force, DC motor shaft Coulomb friction, and leadscrew Coulomb friction. Include motor shaft, leadscrew, and linear axis viscous friction and axis disturbance force, but do not include motor electrical dynamics. b. Determine the linear axis system time constant. c. For a constant command voltage, disturbance force, and Coulomb friction torques, determine the steady state velocity. Page 4
5 d. Determine the steady state gains from axis velocity to command voltage, disturbance force, motor Coulomb friction, and leadscrew Coulomb friction. e. Draw a block diagram of the electric linear axis system. QUESTION 7 A hydraulic rotational axis has the following parameters: J m = 0.6 kg m 2, J r = 10 kg m 2, V 0 = 0.2 m 3, β = 10 9 N/m 2, D m = 10 2 m 3 /rad, K r = 0.2, K c = 10 8 m 5 /(N s), and K q = 3 m 2 /s. Complete the following: a. Using the Euler method, derive first order difference equations for the axis angular position, axis angular velocity, and load pressure. b. For a constant valve displacement of 10 mm and a disturbance torque of 10 4 sin(100t) N m, where t is time in s, create a numerical simulation and, on separate graphs, plot the axis angular position, axis angular velocity, load pressure, and load flow versus time. All initial conditions are zero. QUESTION 8 A hydraulic rotational axis system has the following parameters: J m = 0.6 kg m 2, B m = 4 N m/(rad/s), V 0 = 0.5 m 3, β = 10 9 N/m 2, D m = 10 4 m 3 /rad, K c = 10 8 m 5 /(N s), K q = 30 m 2 /s, J r = 10 3 kg m 2, B r = 1 N m/(rad/s), and K r = 0.7. Complete the following: a. Using the Euler method, derive first order difference equations for the axis angular position, axis angular velocity, and load pressure. Page 5
6 b. For the valve displacement shown in Figure 1 and a constant disturbance torque of 50 N m, create a numerical simulation and, on separate graphs, plot the axis angular position, axis angular velocity, load pressure, and load flow versus time. All initial conditions are zero. x v 5 mm 0 mm 0 s 1 s t Figure 1 QUESTION 9 An electric drive spindle has the following parameters: J m = 10 2 kg m 2, R = 5 Ω, K t = 0.5 N m/a, K v = 0.5 V/(rad/s), K a = 30, L = 0.1 H, J s = 4 kg m 2, and K s = 0.1. The current is limited to ±10 A. Complete the following: a. Symbolically derive a differential equation relating spindle angular velocity to command voltage and disturbance torque, a transfer function relating spindle angular velocity to command voltage, and a transfer function relating spindle angular velocity to disturbance torque. Ignore all sources of viscous friction and Coulomb friction acting on the motor shaft. Page 6
7 b. Calculate the time constants numerically. c. Using the Euler method, symbolically derive difference equations to simulate the spindle angular velocity and current. d. Simulate the electric spindle system for e c (t) = 4 + sin(5t) V and T d = 0. On separate graphs, plot the spindle angular velocity and current versus time. All initial conditions are zero. QUESTION 10 An electric linear axis has the following parameters: J m = 10 3 kg m 2, R a = 7.5 Ω, K t = 0.9 N m/a, K v = 0.9 V/(rad/s), K a = 55, L a = H, J l = kg m 2, K l = 1, p = 20/(2000π) m/rad, m = 1000 kg. The current is limited to ±10 A. Complete the following: a. Symbolically derive a differential equation relating axis position to command voltage and load force, a transfer function relating axis position to command voltage, and a transfer function relating axis position to load force. Ignore all sources of viscous and nonlinear friction. b. Calculate the time constants numerically. c. Using the Euler method, symbolically derive difference equations to simulate the axis position, axis velocity, and armature current. d. Simulate the system for a square command voltage signal with an amplitude of 2 V and a frequency of 0.25 Hz, and and f L = 0. Run the simulation for 2 cycles and plot the axis position, axis velocity, motor torque, and armature current versus time on separate Page 7
8 graphs. A square signal may be generated by the function Asgn(sin(2πft)), where A is the amplitude and f is the frequency in Hz. All initial conditions are zero. QUESTION 11 A hydraulic rotational axis has the following parameters: J m = 0.6 kg m 2, J r = 10 kg m 2, V 0 = 0.2 m 3, and β = 10 9 N/m 2. Select the gear gain, volumetric displacement, flow gain, and flow pressure coefficient such that that system has a damping ratio of 2, a natural frequency of 100 rad/s, the angular velocity will change by 0.6 rad/s for a change in valve displacement of 10 mm, and the angular velocity will change by 1 rad/s for a change in disturbance torque applied to the rotational axis of 2500 N m. Neglect viscous damping in the motor and rotational axis. QUESTION 12 An empirical model of a powder feeder is given in equations (1) and (2). The unit of motor angular velocity is rpm and the unit of nozzle powder flow rate is gpm. Complete the following: a. Ignoring the nonlinear friction, symbolically determine a differential equation relating the powder flow rate to the command voltage. b. Ignoring the nonlinear friction, symbolically determine a transfer function relating the powder flow rate to the command voltage. c. The powder feeder has the following parameters: τ m = s, k m = 158 rpm/v, ω f = 98.8 rpm, τ p = s, k p = gpm/rpm, and t d = 1.98 s. Determine a set of difference equations, using Euler s method, to simulate the powder feeder. Simulate the powder Page 8
9 feeder for a command voltage e c (t) = 2sin(t). Plot the motor angular velocity and nozzle mass flow rate on separate graphs. All initial conditions are zero and e c (t) = 0 for t < 0. d. Ignoring the nonlinear friction, plot the magnitude and phase frequency plots for the transfer function derived in part b. () t + ( t) = sgn ( ) + k e ( t) τ ω ω ω ω (1) m m m f m m c ( ) + ( ) = ω ( ) τ mt mt k t t (2) p p m d QUESTION 13 For a spindle actuated by an electric motor complete the following: a. Derive a differential equation relating spindle angular velocity to command voltage, disturbance torque, and DC motor shaft Coulomb friction. Include motor shaft and spindle viscous friction and spindle disturbance torque, but do not include motor electrical dynamics. b. Determine the spindle system time constant. c. For a constant command voltage, disturbance torque, and Coulomb friction torque, determine the steady state angular velocity. d. Determine the steady state gain from spindle angular velocity to command voltage, disturbance torque, and motor Coulomb friction. e. Draw a block diagram of the spindle system. Page 9
ω h (t) = Ae t/τ. (3) + 1 = 0 τ =.
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.004 Dynamics and Control II Fall 2007 Lecture 2 Solving the Equation of Motion Goals for today Modeling of the 2.004 La s rotational
More informationDCMS DC MOTOR SYSTEM User Manual
DCMS DC MOTOR SYSTEM User Manual release 1.3 March 3, 2011 Disclaimer The developers of the DC Motor System (hardware and software) have used their best efforts in the development. The developers make
More informationEDUMECH Mechatronic Instructional Systems. Ball on Beam System
EDUMECH Mechatronic Instructional Systems Ball on Beam System Product of Shandor Motion Systems Written by Robert Hirsch Ph.D. 9989 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional
More informationAssignment 1: System Modeling
Assignment 1: System Modeling Problem 1. (10 pts.) Consider a biological control system consisting of a human reaching for an object. Below is a list of general block diagram elements (on the left, labeled
More informationChapter 11 SERVO VALVES. Fluid Power Circuits and Controls, John S.Cundiff, 2001
Chapter 11 SERVO VALVES Fluid Power Circuits and Controls, John S.Cundiff, 2001 Servo valves were developed to facilitate the adjustment of fluid flow based on the changes in the load motion. 1 Typical
More informationActive Vibration Isolation of an Unbalanced Machine Spindle
UCRLCONF206108 Active Vibration Isolation of an Unbalanced Machine Spindle D. J. Hopkins, P. Geraghty August 18, 2004 American Society of Precision Engineering Annual Conference Orlando, FL, United States
More informationINSTRUMENTATION AND CONTROL TUTORIAL 2 ELECTRIC ACTUATORS
INSTRUMENTATION AND CONTROL TUTORIAL 2 ELECTRIC ACTUATORS This is a stand alone tutorial on electric motors and actuators. The tutorial is of interest to any student studying control systems and in particular
More information4 Experimental study of the drill string torsional vibrations
4 Experimental study of the drill string torsional vibrations 4.1 Introduction An experimental apparatus of the drilling system is not easy to develop. Some papers illustrate test rigs with viscous and
More informationTorsion Pendulum. Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer
Torsion Pendulum Life swings like a pendulum backward and forward between pain and boredom. Arthur Schopenhauer 1 Introduction Oscillations show up throughout physics. From simple spring systems in mechanics
More informationObjective: Part 1: OpenLoop System. ITI SimulationX Page 1 of 20 ITI GmbH 2003
ITI SimulationX Page 1 of 20 ITI GmbH 2003 Tutorial 2: Hydraulic Cylinder Drive Objective: In this tutorial you will create a model for a simple hydraulic cylinder drive, which is controlled by a proportional
More informationDC motors: dynamic model and control techniques
DC motors: dynamic model and control techniques Luca Zaccarian Contents 1 Magnetic considerations on rotating coils 1 1.1 Magnetic field and conductors.......................... 1 1.2 The magnetomotive
More informationResponse to Harmonic Excitation Part 2: Damped Systems
Response to Harmonic Excitation Part 2: Damped Systems Part 1 covered the response of a single degree of freedom system to harmonic excitation without considering the effects of damping. However, almost
More informationExample: A StateSpace Controller for DC Motor Position Control
Example: A StateSpace Controller for DC Motor Position Control The electric circuit of the armature and the free body diagram of the rotor are shown in the following figure: For this example, we will
More informationMotor Selection and Sizing
Motor Selection and Sizing Motor Selection With each application, the drive system requirements greatly vary. In order to accommodate this variety of needs, Aerotech offers five types of motors. Motors
More informationController Design in Frequency Domain
ECSE 4440 Control System Engineering Fall 2001 Project 3 Controller Design in Frequency Domain TA 1. Abstract 2. Introduction 3. Controller design in Frequency domain 4. Experiment 5. Colclusion 1. Abstract
More informationMotor Modeling and Identification for Fun and Profit
Motor Modeling and Identification for Fun and Profit Nick Morozovsky Graduate Student Researcher Coordinated University of California San Diego robotics.ucsd.edu 1 Outline Motivation Hardware System &
More informationEE 402 RECITATION #13 REPORT
MIDDLE EAST TECHNICAL UNIVERSITY EE 402 RECITATION #13 REPORT LEADLAG COMPENSATOR DESIGN F. Kağan İPEK Utku KIRAN Ç. Berkan Şahin 5/16/2013 Contents INTRODUCTION... 3 MODELLING... 3 OBTAINING PTF of OPEN
More informationPower Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore.
Power Electronics Prof. K. Gopakumar Centre for Electronics Design and Technology Indian Institute of Science, Bangalore Lecture  1 Electric Drive Today, we will start with the topic on industrial drive
More informationPractice Exam Three Solutions
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics Physics 8.01T Fall Term 2004 Practice Exam Three Solutions Problem 1a) (5 points) Collisions and Center of Mass Reference Frame In the lab frame,
More informationSlide 10.1. Basic system Models
Slide 10.1 Basic system Models Objectives: Devise Models from basic building blocks of mechanical, electrical, fluid and thermal systems Recognize analogies between mechanical, electrical, fluid and thermal
More information1.10 Using Figure 1.6, verify that equation (1.10) satisfies the initial velocity condition. t + ") # x (t) = A! n. t + ") # v(0) = A!
1.1 Using Figure 1.6, verify that equation (1.1) satisfies the initial velocity condition. Solution: Following the lead given in Example 1.1., write down the general expression of the velocity by differentiating
More informationResponse to Harmonic Excitation
Response to Harmonic Excitation Part 1 : Undamped Systems Harmonic excitation refers to a sinusoidal external force of a certain frequency applied to a system. The response of a system to harmonic excitation
More informationInduction Motor (NoLoad Test) Induction Motor (Blocked Rotor Test) Example (NoLoad/Blocked Rotor Tests) The results of the noload and blocked rotor tests on a threephase, 60 hp, 2200 V, sixpole, 60
More informationLab Session 4 Introduction to the DC Motor
Lab Session 4 Introduction to the DC Motor By: Professor Dan Block Control Systems Lab Mgr. University of Illinois Equipment Agilent 54600B 100 MHz Ditizing Oscilloscope (Replacement model: Agilent DSO5012A
More informationModule 3F2: Systems and Control EXAMPLES PAPER 1  STATESPACE MODELS
Cambridge University Engineering Dept. Third year Module 3F2: Systems and Control EXAMPLES PAPER  STATESPACE MODELS. A feedback arrangement for control of the angular position of an inertial load is
More informationUnit  6 Vibrations of Two Degree of Freedom Systems
Unit  6 Vibrations of Two Degree of Freedom Systems Dr. T. Jagadish. Professor for Post Graduation, Department of Mechanical Engineering, Bangalore Institute of Technology, Bangalore Introduction A two
More informationANALYTICAL METHODS FOR ENGINEERS
UNIT 1: Unit code: QCF Level: 4 Credit value: 15 ANALYTICAL METHODS FOR ENGINEERS A/601/1401 OUTCOME  TRIGONOMETRIC METHODS TUTORIAL 1 SINUSOIDAL FUNCTION Be able to analyse and model engineering situations
More informationGOVERNMENT COLLEGE OF ENGINEERING, BARGUR CONTROL SYSTEMS OBJECTIVE TYPE QUESTIONS
GOVERNMENT COLLEGE OF ENGINEERING, BARGUR CONTROL SYSTEMS OBJECTIVE TYPE QUESTIONS 1. In an open loop control system (a) Output is independent of control input (b) Output is dependent on control input
More informationElectric Motors and Drives
EML 2322L MAE Design and Manufacturing Laboratory Electric Motors and Drives To calculate the peak power and torque produced by an electric motor, you will need to know the following: Motor supply voltage,
More informationPhysics 1A Lecture 10C
Physics 1A Lecture 10C "If you neglect to recharge a battery, it dies. And if you run full speed ahead without stopping for water, you lose momentum to finish the race. Oprah Winfrey Static Equilibrium
More informationMATHEMATICAL MODEL OF PROPELLER CONTROL SYSTEM
18 Proceedings of the International Scientific Conference Modern Safety Technologies in Transportation 2015 MATHEMATICAL MODEL OF PROPELLER CONTROL SYSTEM Jaroslav BRAŤKA 1 Jozef ZAKUCIA 2 Abstract: This
More information226 Chapter 15: OSCILLATIONS
Chapter 15: OSCILLATIONS 1. In simple harmonic motion, the restoring force must be proportional to the: A. amplitude B. frequency C. velocity D. displacement E. displacement squared 2. An oscillatory motion
More informationSpeed Control of DC Motor using Pid Controller Based on Matlab
Speed Control of DC Motor using Pid Controller Based on Matlab Aditya Pratap Singh Asst Prof, EX Dept. IEI BHOPAL, MP Udit Narayan Student of BE, IEI, BHOPAL, MP Akash Verma Student of BE, IEI, BHOPAL,
More informationHarmonic Drive acutator P r e c i s i o n G e a r i n g & M o t i o n C o n t r o l
D C S e r v o S y s t e m s RH Mini Series Total Motion Control Harmonic Drive acutator P r e c i s i o n G e a r i n g & M o t i o n C o n t r o l Precision Gearing & Motion Control DC SERVO ACTUATORS
More informationAP Physics C. Oscillations/SHM Review Packet
AP Physics C Oscillations/SHM Review Packet 1. A 0.5 kg mass on a spring has a displacement as a function of time given by the equation x(t) = 0.8Cos(πt). Find the following: a. The time for one complete
More informationdspace DSP DS1104 based State Observer Design for Position Control of DC Servo Motor
dspace DSP DS1104 based State Observer Design for Position Control of DC Servo Motor Jaswandi Sawant, Divyesh Ginoya Department of Instrumentation and control, College of Engineering, Pune. ABSTRACT This
More informationObjectives. Electric Current
Objectives Define electrical current as a rate. Describe what is measured by ammeters and voltmeters. Explain how to connect an ammeter and a voltmeter in an electrical circuit. Explain why electrons travel
More informationFluid Power Circuits and Controls, John S.Cundiff, 2001
HYDROSTATIC TRANSMISSIONS Fluid Power Circuits and Controls, John S.Cundiff, 2001 Introduction Focus The characteristics of hydrostatic transmission will be compared with mechanical transmissions. 1 Mechanical
More informationBrush DC Motor Basics. by Simon Pata Business Unit Manager, Brushless DC
thinkmotion Brush DC Motor Basics by Simon Pata Business Unit Manager, Brushless DC Ironless DC Motor Basics Technical Note Brushed DC ironless motors are found in a large variety of products and applications
More informationTorque and Rotary Motion
Torque and Rotary Motion Name Partner Introduction Motion in a circle is a straightforward extension of linear motion. According to the textbook, all you have to do is replace displacement, velocity,
More informationMagnetic electromechanical machines
Magnetic electromechanical machines Lorentz Force A magnetic field exerts force on a moving charge. The Lorentz equation: f = q(e + v B) f: force exerted on charge q E: electric field strength v: velocity
More informationD660 Series ServoProportional Control Valves with Integrated Electronics ISO 4401 Size 05 to 10
D660 Series ServoProportional Control Valves with Integrated Electronics ISO 4401 Size 05 to 10 OVERVIEW D660 Section Page MOOG SERVOPROPORTIONAL CONTROL VALVES Overview 2 3 Technical Data 4 5 Electronics
More informationA Simplified Approach to dc Motor Modeling for Dynamic Stability Analysis
Application Report SLUA076  July 2000 A Simplified Approach to dc Motor Modeling for Dynamic Stability Analysis Edited by Mickey McClure Power Supply Control Products ABSTRACT When we say that an electric
More informationApplications of SecondOrder Differential Equations
Applications of SecondOrder Differential Equations Secondorder linear differential equations have a variety of applications in science and engineering. In this section we explore two of them: the vibration
More informationPrecise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility
Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility Renuka V. S. & Abraham T Mathew Electrical Engineering Department, NIT Calicut Email : renuka_mee@nitc.ac.in,
More information11. Rotation Translational Motion: Rotational Motion:
11. Rotation Translational Motion: Motion of the center of mass of an object from one position to another. All the motion discussed so far belongs to this category, except uniform circular motion. Rotational
More informationRotational Mechanics CHAPTER SOME IMPORTANT OBSERVATIONS
CHAPTER 6 Rotational Mechanics In this chapter, simple singledimensional rotational processes will be treated. Essentially, we will be concerned with wheels rotating around fixed axes. It will become
More informationHW 7 Q 14,20,20,23 P 3,4,8,6,8. Chapter 7. Rotational Motion of the Object. Dr. Armen Kocharian
HW 7 Q 14,20,20,23 P 3,4,8,6,8 Chapter 7 Rotational Motion of the Object Dr. Armen Kocharian Axis of Rotation The radian is a unit of angular measure The radian can be defined as the arc length s along
More informationEXPERIMENT: MOMENT OF INERTIA
OBJECTIVES EXPERIMENT: MOMENT OF INERTIA to familiarize yourself with the concept of moment of inertia, I, which plays the same role in the description of the rotation of a rigid body as mass plays in
More informationDrivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics
Drivetech, Inc. Innovations in Motor Control, Drives, and Power Electronics Dal Y. Ohm, Ph.D.  President 25492 Carrington Drive, South Riding, Virginia 20152 Ph: (703) 3272797 Fax: (703) 3272747 ohm@drivetechinc.com
More informationVSDC: TorquePendulum Tutorial  Part 1 Page 1
VSDC: TorquePendulum Tutorial  Part 1 Page 1 Figure 1: Torquependulum TorquePendulum Tutorial  Part 1: This is an MSC.ADAMS tutorial that focuses on basic steps in combining a mechanical system model
More informationEstimating Dynamics for (DCmotor)+(1st Link) of the Furuta Pendulum
Estimating Dynamics for (DCmotor)+(1st Link) of the Furuta Pendulum 1 Anton and Pedro Abstract Here the steps done for identification of dynamics for (DCmotor)+(1st Link) of the Furuta Pendulum are described.
More informationElectroHydraulic Servo Valve Construction, Models and Use
ElectroHydraulic Servo Valve Construction, Models and Use From Merritt, H. E., Hydraulic Control Systems, J. Wiley, 1967. The input to an electrohydraulic (EH) servovalve is typically a current or a
More information2 rad c. π rad d. 1 rad e. 2π rad
Name: Class: Date: Exam 4PHYS 101F14 Multiple Choice Identify the choice that best completes the statement or answers the question. 1. A wheel, initially at rest, rotates with a constant acceleration
More informationCenter of Gravity. We touched on this briefly in chapter 7! x 2
Center of Gravity We touched on this briefly in chapter 7! x 1 x 2 cm m 1 m 2 This was for what is known as discrete objects. Discrete refers to the fact that the two objects separated and individual.
More informationServo Motor Selection Flow Chart
Servo otor Selection Flow Chart START Selection Has the machine Been Selected? YES NO Explanation References etermine the size, mass, coefficient of friction, and external forces of all the moving part
More informationModels for DC Motors
Models for DC Motors Raul Rojas Free University of Berlin Institute of Computer Science Takustr. 9, 14195 Berlin, Germany http://www.fufighters.de Abstract. This document describes how to model a DC motor,
More informationEN 206: Power Electronics and Machines
EN 206: Power Electronics and Machines Electric Drives Suryanarayana Doolla Department of Energy Science and Engineering Indian Institute of Technology Bombay email: suryad@iitb.ac.in September 14, 2011
More informationHooke s Law. Spring. Simple Harmonic Motion. Energy. 12/9/09 Physics 201, UWMadison 1
Hooke s Law Spring Simple Harmonic Motion Energy 12/9/09 Physics 201, UWMadison 1 relaxed position F X = kx > 0 F X = 0 x apple 0 x=0 x > 0 x=0 F X =  kx < 0 x 12/9/09 Physics 201, UWMadison 2 We know
More informationElectric Rotary Actuator  On/Off or programmable control actuator
Electric Rotary Actuator  On/Off or programmable control actuator Direct mounting on quarterturn valves Manual override standard Corrosion resistant Adjustable limit switches Multivoltage version Type
More informationEXPERIMENT05: WATER TURBINES RESULTS. Mario R. Flores Milán #73256 Gabriel J. Montalvo Claudio #73835 Alejandro J. Negrón Irizarry #72145
Polytechnic University of Puerto Rico Mechanical Engineering Department Prof. Eduardo Cabrera EXPERIMENT05: WATER TURBINES RESULTS Mario R. Flores Milán #73256 Gabriel J. Montalvo Claudio #73835 Alejandro
More informationSYNCHRONOUS MACHINES
SYNCHRONOUS MACHINES The geometry of a synchronous machine is quite similar to that of the induction machine. The stator core and windings of a threephase synchronous machine are practically identical
More informationPHYS 1014M, Fall 2005 Exam #3. MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question.
PHYS 1014M, Fall 2005 Exam #3 Name MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question. 1) A bicycle wheel rotates uniformly through 2.0 revolutions in
More informationD634P Series Direct Drive Proportional Valve with Integrated 24 V Electronics ISO 4401 Size 05
D634P Series Direct Drive Proportional Valve with Integrated 24 V Electronics ISO 4401 Size 05 GENERAL SECTION PAGE MOOG SERVO AND PROPORTIONAL CONTROL VALVES General 2 enefits and Functionality 3 General
More information! n. Problems and Solutions Section 1.5 (1.66 through 1.74)
Problems and Solutions Section.5 (.66 through.74).66 A helicopter landing gear consists of a metal framework rather than the coil spring based suspension system used in a fixedwing aircraft. The vibration
More informationPhysical Quantities, Symbols and Units
Table 1 below indicates the physical quantities required for numerical calculations that are included in the Access 3 Physics units and the Intermediate 1 Physics units and course together with the SI
More informationRotational Inertia Demonstrator
WWW.ARBORSCI.COM Rotational Inertia Demonstrator P33545 BACKGROUND: The Rotational Inertia Demonstrator provides an engaging way to investigate many of the principles of angular motion and is intended
More informationChapter 10 Rotational Motion. Copyright 2009 Pearson Education, Inc.
Chapter 10 Rotational Motion Angular Quantities Units of Chapter 10 Vector Nature of Angular Quantities Constant Angular Acceleration Torque Rotational Dynamics; Torque and Rotational Inertia Solving Problems
More informationAdvantages of Autotuning for Servomotors
Advantages of for Servomotors Executive summary The same way that 2 years ago computer science introduced plug and play, where devices would selfadjust to existing system hardware, industrial motion control
More informationChapter 11. h = 5m. = mgh + 1 2 mv 2 + 1 2 Iω 2. E f. = E i. v = 4 3 g(h h) = 4 3 9.8m / s2 (8m 5m) = 6.26m / s. ω = v r = 6.
Chapter 11 11.7 A solid cylinder of radius 10cm and mass 1kg starts from rest and rolls without slipping a distance of 6m down a house roof that is inclined at 30 degrees (a) What is the angular speed
More informationSOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS  VELOCITY AND ACCELERATION DIAGRAMS
SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS  VELOCITY AND ACCELERATION DIAGRAMS This work covers elements of the syllabus for the Engineering Council exams C105 Mechanical and Structural Engineering
More informationSIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS. Sébastien Corner
SIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS Sébastien Corner scorner@vt.edu The Robotics & Mechanisms Laboratory, RoMeLa Department of Mechanical Engineering of the University of
More informationFrom Figure 5.1, an rms displacement of 1 mm (1000 µm) would not cause wall damage at frequencies below 3.2 Hz.
51 Problems and Solutions Section 5.1 (5.1 through 5.5) 5.1 Using the nomograph of Figure 5.1, determine the frequency range of vibration for which a machine oscillation remains at a satisfactory level
More informationPhysics 231 Lecture 15
Physics 31 ecture 15 Main points of today s lecture: Simple harmonic motion Mass and Spring Pendulum Circular motion T 1/f; f 1/ T; ω πf for mass and spring ω x Acos( ωt) v ωasin( ωt) x ax ω Acos( ωt)
More informationAngular velocity. Angular velocity measures how quickly the object is rotating. Average angular velocity. Instantaneous angular velocity
Angular velocity Angular velocity measures how quickly the object is rotating. Average angular velocity Instantaneous angular velocity Two coins rotate on a turntable. Coin B is twice as far from the axis
More informationCHAPTER 11 TORQUE. Torque T = Fd, where force F = 200 N and distance, d = 350 mm = 0.35 m. = 0.08 m = 80 mm
CHAPTER 11 TORQUE EXERCISE 64, Page 15 1. Determine the torque developed when a force of 00 N is applied tangentiall to a spanner at a distance of 350 mm from the centre of the nut. Torque T = Fd, where
More informationApplication Information
Moog Components Group manufactures a comprehensive line of brushtype and brushless motors, as well as brushless controllers. The purpose of this document is to provide a guide for the selection and application
More informationAP1 Oscillations. 1. Which of the following statements about a springblock oscillator in simple harmonic motion about its equilibrium point is false?
1. Which of the following statements about a springblock oscillator in simple harmonic motion about its equilibrium point is false? (A) The displacement is directly related to the acceleration. (B) The
More informationEQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS
EQUATIONS OF MOTION: ROTATION ABOUT A FIXED AXIS Today s Objectives: Students will be able to: 1. Analyze the planar kinetics of a rigid body undergoing rotational motion. InClass Activities: Applications
More informationControl circuit. gathering and reporting fault messages. carrying out of protective functions for the frequency converter and motor.
Control circuit The control circuit, or control card, is the fourth main component of the frequency converter and has four essential tasks: control of the frequency converter semiconductors. data exchange
More informationMeasurement of speed of rotation and torque
2. measurement Measurement of speed of rotation and torque 1. Aim of the measurement The aim of measurement is to measure the losses of an electrical motor/generator and to analyse the influence of load
More informationUnderstanding Inertia Ratio in Synchronous Motor Control
Understanding Inertia Ratio in Synchronous otor Control Executive summary When sizing a motor for a particular application, the general rule of thumb is to keep the inertia ration below : meaning the motor
More informationMotors. 13/16 Siemens PM 21 2013
Motors Motor selection The is selected on the basis of the required torque, which is defined by the application, e.g. traveling drives, hoisting drives, test stands, centrifuges, paper and rolling mill
More informationDCPancake Servomotors
R DCPancake Servomotors U...F... Series ver 0039e.0 Printed Motors GmbH Industriestraße 20 D74909 Meckesheim Tel. 06226 / 78700 Fax 06226 / 787029 info@printedmotors.com U06FNC 24V80W 0319.0 e DCPancake
More informationUSER MANUAL DC TORQUE MOTOR
USER MANUAL DC ORQUE MOOR he present manual shows an opportunity for the servomechanisms builders of choosing the DC torque motors, with high performances, low price and immediate delivery. ICE SA Department
More informationCORRECTION OF DYNAMIC WHEEL FORCES MEASURED ON ROAD SIMULATORS
Pages 1 to 35 CORRECTION OF DYNAMIC WHEEL FORCES MEASURED ON ROAD SIMULATORS Bohdan T. Kulakowski and Zhijie Wang Pennsylvania Transportation Institute The Pennsylvania State University University Park,
More informationMotors and Generators
Motors and Generators Electromechanical devices: convert electrical energy to mechanical motion/work and vice versa Operate on the coupling between currentcarrying conductors and magnetic fields Governed
More information2.6. InLaboratory Session. 2.6.1. QICii Modelling Module. Modelling. 2.6.1.1. Module Description
2.6. InLaboratory Session 2.6.1. QICii Modelling Module 2.6.1.1. Module Description The main tool for this lab is the front panel of the module entitled Modelling in the QICii software, which should be
More informationQuanser Engineering Trainer for NIELVIS. QNET Rotary Pendulum Trainer. Student Manual. QNET011 ROTPEN Trainer
QNET011 ROTPEN Trainer Quanser Engineering Trainer for NIELVIS QNET Rotary Pendulum Trainer Student Manual Under the copyright laws, this publication may not be reproduced or transmitted in any form,
More information1 Theoretical Background of PELTON Turbine
c [m/s] linear velocity of water jet u [m/s) runner speed at PCD P jet [W] power in the jet de kin P T [W] power of turbine F [N] force F = dj Q [m 3 /s] discharge, volume flow ρ [kg/m 3 ] density of water
More informationLinear Motion vs. Rotational Motion
Linear Motion vs. Rotational Motion Linear motion involves an object moving from one point to another in a straight line. Rotational motion involves an object rotating about an axis. Examples include a
More informationTips For Selecting DC Motors For Your Mobile Robot
Tips For Selecting DC Motors For Your Mobile Robot By AJ Neal When building a mobile robot, selecting the drive motors is one of the most important decisions you will make. It is a perfect example of an
More informationLab 9 Magnetic Interactions
Lab 9 Magnetic nteractions Physics 6 Lab What You Need To Know: The Physics Electricity and magnetism are intrinsically linked and not separate phenomena. Most of the electrical devices you will encounter
More informationCHAPTER 12 PROPORTIONAL VALVES
CHATER ROORTIONAL VALVES Fluid ower Circuits and Controls, John S.Cundiff, 00 Introduction roportional valves were developed for applications where the precision of a servo valve is not needed, but more
More informationPhysics 211 Week 12. Simple Harmonic Motion: Equation of Motion
Physics 11 Week 1 Simple Harmonic Motion: Equation of Motion A mass M rests on a frictionless table and is connected to a spring of spring constant k. The other end of the spring is fixed to a vertical
More informationTorque and Angular Acceleration Question Paper 1
Torque and Angular Acceleration Question Paper 1 Level Subject Exam Board Topic A LEVEL Physics AQA 3.11 Engineering Physics SubTopic Rotational Dynamics Torque and Angular Acceleration Booklet Question
More informationPHYS 211 FINAL FALL 2004 Form A
1. Two boys with masses of 40 kg and 60 kg are holding onto either end of a 10 m long massless pole which is initially at rest and floating in still water. They pull themselves along the pole toward each
More informationAngular acceleration α
Angular Acceleration Angular acceleration α measures how rapidly the angular velocity is changing: Slide 70 Linear and Circular Motion Compared Slide 7 Linear and Circular Kinematics Compared Slide 7
More informationChapter 8 Rotational Motion
Chapter 8 Rotational Motion Textbook (Giancoli, 6 th edition): Assignment 9 Due on Thursday, November 26. 1. On page 131 of Giancoli, problem 18. 2. On page 220 of Giancoli, problem 24. 3. On page 221
More informationTennessee State University
Tennessee State University Dept. of Physics & Mathematics PHYS 2010 CF SU 2009 Name 30% Time is 2 hours. Cheating will give you an Fgrade. Other instructions will be given in the Hall. MULTIPLE CHOICE.
More information