Motor Characterization

THIS SCRIPT IS MODIFIED FROM A SCRIPT OBTAINED NI ME112 FOR USE IN CHARACTERIZING MOTORS THIS IS THE RESULT OF INTIAL EXPERIMENTATION WITH OUR MOTOR AND CALCULATIONS
MADE FROM THE RESULT OF THOSE EXPERIMENTS

This script plots out motor plots for two different voltages given input data for I_noload, W_noload (in
rpm) and I_stall at two different voltages Modified 1.25-2011 -mrc
clear all; close all;

Theoretical Slowest Speed Calculation

If we assume that the motors will never require more than the (relatively high) rated torque of 2.2 kg-cm
w = 60;
m2s = 1/60;
d = 2.5;
i2c = 2.54;
in2rot = pi.*d;
speed = in2rot.*w * m2s; %in/s

RPM_TO_IPS = in2rot.*m2s;
RPM_TO_RADPERSEC = .1047;

%0.1047 is true value, it is changed to RPM_TO_IPS

%INPUT no load conditions for 12V

V1 = 12;
I_noLoad_1 = .075;
W_noLoad_1 = 69*RPM_TO_RADPERSEC;
I_Stall_1 = 1.389;
%INPUT no load conditions for 12V
V2 = 12;
I_noLoad_2 = .075;
W_noLoad_2 = 69*RPM_TO_RADPERSEC;
I_Stall_2 = 1.389;
%Calculated resistance
R = V1/I_Stall_1; % or V2/I_Stall_2
%calculated motor constants
K1 = (V1 - I_noLoad_1*R)/W_noLoad_1;
K2 = (V2 - I_noLoad_2*R)/W_noLoad_2;
%calculated Tf
T_f_1 = K1*I_noLoad_1;
T_f_2 = K2*I_noLoad_2;
%calculated stall torque

Motor Characterization

T_Stall_1 = (K1*V1)/R;
T_Stall_2 = (K1*V2)/R;
%calculated step size for plots
N = 100;
Tstep1 = (T_Stall_1-T_f_1)/N;
Tstep2 = (T_Stall_2-T_f_2)/N;
Wstep1 = (W_noLoad_1 - 0)/N;
Wstep2 = (W_noLoad_2 - 0)/N;
Istep1 = (I_Stall_1-I_noLoad_1)/N;
Istep2 = (I_Stall_2-I_noLoad_2)/N;
%torque values
Torque1 = 0:Tstep1:(T_Stall_1 - T_f_1);
Torque2 = 0:Tstep2:(T_Stall_2 - T_f_2);
%omega values
W1 = W_noLoad_1:-Wstep1:0;
W2 = W_noLoad_2:-Wstep2:0;
%current values
I1 = I_noLoad_1:Istep1:I_Stall_1;
I2 = I_noLoad_2:Istep2:I_Stall_2;
%calculated power
Pout1 = Torque1.*W1;
Pout2 = Torque2.*W2;
%calculated efficiency
Efficiency1 = (1-I_noLoad_1./I1).*(1-I1./I_Stall_1);
Efficiency2 = (1-I_noLoad_2./I2).*(1-I2./I_Stall_2);
%Plot 1: Torque-Speed
figure(1)
clf
hold on
plot(W1,Torque1,'linewidth',2);
plot(W2,Torque2,'r','linewidth',2);
grid on
title('Torque-Speed Curve')
xlabel ('speed (rad/s)','fontsize',14)
ylabel ('torque (Nm)','fontsize',14)
%Plot 2: Power-Current
figure(2)
clf
plot(I1,Pout1,'linewidth',2);
plot(I2,Pout2,'r','linewidth',2);
grid on
title('Power-Current Curve')
xlabel('Current [amps]','fontsize',14)
ylabel('Power
[W]','fontsize',14)
%Plot 3: Power-Speed

Motor Characterization

figure(3)
hold on
plot(W1,Pout1,'linewidth',2);
plot(W2,Pout2,'r','linewidth',2);
plot(57.*RPM_TO_RADPERSEC, 12*.275, 'bO')
grid on
xlabel('Angular Velocity [rad/s]')
ylabel('Power
[W]')
title('Power-Speed Curve')
hold off
%Plot 4: Efficiency-Current
figure(4)
hold on
plot(I1,Efficiency1,'linewidth',2);
plot(I2,Efficiency2,'r','linewidth',2);
plot(.275, 0:.01:.6, 'bo');
grid on
xlabel('Current [amps]')
ylabel('Efficiency [ ]')
title('Efficiency-Current Curve')

Motor Characterization

Motor Characterization

Published with MATLAB R2014b