Professional Documents
Culture Documents
Mechanisms
• Mechanical-Electrical Analog
• Electrical Modeling
• Coupling Mechanisms
• Four-Quadrant Operation
• Dynamic Operation
© Copyright Ned Mohan 2010 1
Mechanical ‐ Electrical Analogy
• Torque • Current
• Angular Velocity • Voltage
• Angular Displacement • Flux Linkage
• Moment of Inertia • Capacitance
• Spring Constant • 1/Inductance
• Damping Coefficient • 1/Resistance
• Coupling Ratio • Transformer ratio
© Copyright Ned Mohan 2010 2
Electrical Analogy of Motor & Load
m L
TL Load
Motor Tem
JL
Jm
M 1/ K L m
Finite shaft stiffness Infinite shaft stiffness
© Copyright Ned Mohan 2010 3
Coupling Mechanisms
Required when
a (rotary) motor is driving a load which requires linear
(translational) motion
motors prefer higher rotational speed than that required by
the load
the axis of rotation needs to be changed
Types
Conveyor belts (belt and pulley)
Rack and pinion or a lead‐screw type of arrangement
Gear mechanisms
© Copyright Ned Mohan 2010 4
Conversion between Linear and Rotary Systems
fL
M u J m motor inertia
r
M = mass of load
m r = pulley radius
Tem
Motor du
f M fL
Jm dt
u r m
2 d m
T r f r M rf L
dt
d m 2 d
Tem Jm r M r fL
dt dt
required to accelerate due to load
motor
© Copyright Ned Mohan 2010 5
Gears
T1 r1
Tem
Motor
M
JM
TL
T2
r2
Load
L
JL
Basic relationships: radius, speed, torque
Equal speeds at gear surfaces r1 M r2 L
Power transferred across gears M T1 L T2 ,
r1 T d M M d L
& Tem J M
L 1 L
T J
r2 M T2 dt L
L
dt
T1 T2
Geared up: speed increased, torque decreased L M ; T2 T1 ; r2 r1
Geared down: speed decreased, torque increased
L M ; T2 T1 ; r2 r1
© Copyright Ned Mohan 2010 6
Four‐Quadrant Operation
m
(2) (1)
m m
Tem Tem
Tem
m p p
Tem
Load
Motor m m
Power Tem Tem
p p
(3) (4)
© Copyright Ned Mohan 2010 7
Dynamic Operation
© Copyright Ned Mohan 2010 8
Summary
© Copyright Ned Mohan 2010 9