Scribd Logo
Upload

Welcome to Scribd!

  • 6K views

    Sizing Electric Motors For Mobile Robotics

    Uploaded by

    anon-293485
    The document provides a procedure for sizing DC motors for mobile robotics. It involves determining the total applied force, calculating the power requirement, and then calculating the torque and speed requirements. Finally, a motor is selected that meets these requirements by comparing its specifications to the calculated torque-speed curve. Key steps include accounting for weight, friction, velocity needs, and wheel radius when determining force and power needs.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPT, PDF, TXT or read online from Scribd

    Sizing Electric Motors For Mobile Robotics

    Uploaded by

    anon-293485
    6K views35 pages
    The document provides a procedure for sizing DC motors for mobile robotics. It involves determining the total applied force, calculating the power requirement, and then calculating the torque and speed requirements. Finally, a motor is selected that meets these requirements by comparing its specifications to the calculated torque-speed curve. Key steps include accounting for weight, friction, velocity needs, and wheel radius when determining force and power needs.

    Original Title

    Sizing Electric Motors for Mobile Robotics

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    PPT, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    The document provides a procedure for sizing DC motors for mobile robotics. It involves determining the total applied force, calculating the power requirement, and then calculating the torque and speed requirements. Finally, a motor is selected that meets these requirements by comparing its specifications to the calculated torque-speed curve. Key steps include accounting for weight, friction, velocity needs, and wheel radius when determining force and power needs.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    6K views35 pages

    Sizing Electric Motors For Mobile Robotics

    Uploaded by

    anon-293485
    The document provides a procedure for sizing DC motors for mobile robotics. It involves determining the total applied force, calculating the power requirement, and then calculating the torque and speed requirements. Finally, a motor is selected that meets these requirements by comparing its specifications to the calculated torque-speed curve. Key steps include accounting for weight, friction, velocity needs, and wheel radius when determining force and power needs.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    of 35

    Sizing Electric Motors for

    Mobile Robotics

    May 21, 2006


    The Basics

    May 21, 2006


    Unit Conversions
    rad rev N ⋅m
    2π =1 1Watt = 1
    sec sec sec
    Coulomb
    1Watt = 1Volt ⋅ Ampere = 1Volt
    sec

    May 21, 2006


    Basics

    The FORCE applied


    by a wheel is always
    tangent to the wheel.

    Force is measured in units of weight (lb, oz, N)


    May 21, 2006
    Basics

    The required
    TORQUE to move a
    mobile robot is the
    force times the
    radius of the wheel.

    Torque is measured in units of weight x length


    May 21, 2006 (lb·ft, oz ·in, N·m)
    Procedure for Sizing DC
    Motors

    May 21, 2006


    Information Needed
    • Estimated Weight
    • Number of wheels and motors
    • Maximum incline
    • Desired maximum velocity at worst
    case
    • Push/Pull forces

    May 21, 2006


    Procedure
    • Step One: Determine total applied force
    at worst case

    May 21, 2006


    Friction
    • Static Friction
    – Used to determine traction failure
    • Rolling Friction
    – Used to determine motor requirements
    • Kinetic Friction

    May 21, 2006


    Rolling Friction
    FR = µ R ⋅ N
    ∀ µR Is the coefficient of Rolling friction
    – Using the coefficient of Static friction (µS)
    will typically be to high
    • To determine µR:
    – Roll a wheel at a initial velocity, v, and
    measure the time, t, in which it takes to
    stop v
    µR =
    May 21, 2006 t⋅g
    Rolling Friction
    • Some typical values for µR
    – Steel on steel: 0.001
    – Rubber on pavement: 0.015

    May 21, 2006


    Other Forces
    • Gravity
    FI = W ⋅ sin θ

    • External
    θ

    May 21, 2006


    Total Force
    • Calculate worst case
    – Up hill with rolling friction
    F = W ⋅ ( µ R ⋅ cosθ + sin θ )
    – Up hill with rolling friction, pushing
    F = W ⋅ ( µ R ⋅ cosθ + sin θ ) + FEX
    – Level ground with rolling friction
    F = µ R ⋅W
    – Level ground with rolling friction, pushing

    May 21, 2006


    F = µ R ⋅ W + FEX
    Other Cases
    • Tracks
    – Set µr=0
    – Use a spring scale to determine the force required
    to pull the chassis in neutral and add that to the
    worst case force
    • Gear Trains
    – Bulky gear trains may significantly affect the
    outcome
    – If this is a concern, it may be best to test in the
    same way as tracks
    May 21, 2006
    Procedure
    • Step One: Determine total applied force
    at worst case
    • Step Two: Calculate power requirement

    May 21, 2006


    Power Requirement
    • Determine velocity, v, requirement
    under maximum load (worst case force)
    • Using the worst case force and velocity,
    calculate the power requirement
    P = F ⋅v
    • This is the total power, divide by the
    number of motors if more than one
    motor is used
    RULE OF THUMB: 3 TIMES MARGIN
    May 21, 2006
    Procedure
    • Step One: Determine total applied force
    at worst case
    • Step Two: Calculate power requirement
    • Step Three: Calculate torque and speed
    requirement

    May 21, 2006


    Speed/Torque Requirements
    • Using the velocity requirement, v, and
    the radius of the wheel, r
    v
    ω= Speed requirement
    is in rad/sec
    r
    • Using the speed from above and the
    power per motor
    P
    T=
    ω
    May 21, 2006
    Procedure
    • Step One: Determine total applied force
    at worst case
    • Step Two: Calculate power requirement
    • Step Three: Calculate torque and speed
    requirement
    • Step Four: Find a motor that meets
    these requirements
    May 21, 2006
    Spec Sheet

    May 21, 2006


    Spec Sheet

    May 21, 2006


    Procedure
    • Step One: Determine total applied force
    at worst case
    • Step Two: Calculate power requirement
    • Step Three: Calculate torque and speed
    requirement
    • Step Four: Find a motor that meets
    these requirements
    • Step Five: Plot motor characteristics
    May 21, 2006
    Torque vs. Speed Curve
    TPK
    T = TPK − ⋅ω
    S NL
    • Where T = Torque
    • TPK = Stall Torque
    • SNL = No Load Speed
    ∀ ω = Speed

    May 21, 2006


    Torque vs. Speed Curve
    Torque vs. Speed

    7.00E-02

    6.00E-02
    From this plot,
    5.00E-02 maximum speed can
    be determined for a
    Torque, Nm

    4.00E-02
    given load.
    3.00E-02

    2.00E-02

    1.00E-02

    0.00E+00
    0 1000 2000 3000 4000 5000 6000 7000 8000
    Speed, rpm
    May 21, 2006
    Power
    TPK S NL
    T = TPK − ⋅ω ω = (TPK −T)
    S NL TPK
    P = T ⋅ω
    TPK
    P (ω ) = − ⋅ ω 2 + TPK ⋅ ω
    S NL
    S NL 2
    P (T ) = − ⋅ T + S NL ⋅ T
    TPK
    May 21, 2006
    Power
    Power vs. Speed

    1.20E+01

    1.00E+01

    8.00E+00
    Power, watts

    6.00E+00

    TPK
    4.00E+00
    P (ω ) = − ⋅ ω 2 + TPK ⋅ ω
    2.00E+00 S NL
    0.00E+00
    0 1000 2000 3000 4000 5000 6000 7000
    Speed, rpm
    May 21, 2006
    Power
    Power vs. Torque

    1.20E+01

    1.00E+01

    8.00E+00
    Power, watts

    6.00E+00

    S NL 2
    4.00E+00
    P (T ) = − ⋅ T + S NL ⋅ T
    2.00E+00 TPK
    0.00E+00
    0 0.01 0.02 0.03 0.04 0.05 0.06
    Torque, Nm
    May 21, 2006
    Power vs. Speed
    Power
    1.20E+01

    1.00E+01

    8.00E+00
    Power vs. Torque
    Power, watts

    6.00E+00 1.20E+01

    4.00E+00 1.00E+01

    2.00E+00 8.00E+00

    Power, watts
    0.00E+00 6.00E+00
    0 1000 2000 3000 4000 5000 6000 7000
    Speed, rpm

    1
    4.00E+00

    ω = ω max
    2.00E+00

    2
    0.00E+00
    0 0.01 0.02 0.03 0.04 0.05 0.06
    Torque, Nm

    1
    Peak power is obtained at half of T = Tmax
    maximum torque and speed 2
    May 21, 2006
    Procedure
    • Step One: Determine total applied force
    at worst case
    • Step Two: Calculate power requirement
    • Step Three: Calculate torque and speed
    requirement
    • Step Four: Find a motor that meets
    these requirements
    • Step Five: Plot motor characteristics
    May 21, 2006
    A Few Extra Points

    May 21, 2006


    Simple DC Motor Model

    V = I ⋅R+e e = ke ⋅ ω V = I ⋅ R + ke ⋅ ω

    T = kt ⋅ I
    2
     I 
    η max = 1 − NL 

     IP 
    May 21, 2006
    Motor Inductance
    • The windings of a DC motor creates an
    Inductance, L
    • Change in current through an di
    inductance creates a voltage V =L
    dt
    • Switching current to a motor causes
    di/dt to spike (Flyback)
    Flyback voltages can be very high and damage
    electronics, that is why a flyback diode in the
    May 21, 2006
    switching circuit is required.
    Winches
    • Similar to drive motors

    May 21, 2006


    Common Mistakes
    • Using static or kinetic friction instead of rolling
    friction
    – If a wheel is rolling without slipping, the only
    energy loss is due to deformations in the
    wheel/surface (rolling friction)
    • Using PWM to control a motor reduces the
    available torque
    – The average power, speed and torque are
    reduced, however, effective torque is not
    significantly effected

    May 21, 2006


    Questions?

    May 21, 2006

    You might also like