# MOTION CONTROL CALCULATION

40 mT Spooling Tension at 33 m/min, Full Reel Torque required to overcome inertia. IR  314000000  m  kg IM  31.1m  kg IB  542.98m  kg IP  124.13m  kg IS  1.655m  kg ηg  .95 ηm  .97 ηbk  .95 ηbg  .98 .98  0.960 486 mg   24.300 20 n  4 r  12.116m v  .55 m s Time Required to Reach Speed Angular Acceleration Required IS  IP  ηbk ηbg Total Inertia Torque Due to Inertia IB
2 2 2 2 2

Reel Inertia Motor Inertia Brake Inertia Pinion Inertia Motor Shaft Inertia Efficiency of Main Gear Set Efficiency of Motor Efficiency of Brake Efficiency of Bearings Gear Ratio Number of Drive Assemblies Pitch Radius of Tension Speed Required

t  30 s v  mg 1 α   0.037 2 r t s I  IR n mg  ηg
2

IM ηm
2

I  140666.778 m  kg T1  I α  5172.256 m N Torque required to accelerate the load. LP  40000  kg a  v t  0.0183 m s
2

Pipe Tension Acceleration Required Torque Due to Pipe Tension Torque Due to Bearing Friction Torque Due to 300 mm Eccentricity

Tp  LP r ( g  a)  4761579.923  m N Tf  7167936m N Te  9571632m N

Evaluation of Drive Assembly

1/2

Reel Drive System

12/31/2010

37 bar Ts p Pratio   1. Evaluation of Drive Assembly 2/2 Reel Drive System 12/31/2010 . the motor is not adequately sized. cooling and choice of hydraulic system for speeds above rated. The motor would have to run at or over maximum motor pressure. Ttotal p rq   319.T2  Tp  Tf  Te n  mg  ηg  ηm ηbk ηbg  263102. in regards to required pressure across the motor ports.994 ωrq hprq  Ttotal ωrq  396. Intermittently Motor Specific Torque p  350  bar ω  21 rpm Required Pressure Across Motor Ports Required Motor Speed ω Nratio   1.096 p rq ωrq  v  mg r  10.85 hp HP ratio  hpm hprq  3.083 m N Torque Reflected to the Pinion Shaft Due to the Load Ttotal  T1  T2  268274. Ts  840  m N bar Maximum Motor Pressure Motor Rated Speed (special considerations regarding charge pressure.338 m N Total Torque Reflected to the Pinion Shaft Drive assembly characteristics based on Hagglunds CB840. 4 ports must be used for higher speed) hpm  1200 hp Verify if motor is proper size. required charge pressure and maximum motor pressure.534 rpm Maximum Motor Horsepower.024 Required Horsepower For spooling.