time to move.

xls
By Alex Slocum 1/10/01
Enter Numbers in BOLD
Assumptions
1/2 stall toruq is available over entire move profile
2 wheel drive, 1 motor per wheel
DC motor: Torque = Ts+mt*mrps
ignore motor/gearbox inertia
Goals
Find time to end of beam
Determine realistic parameters

Motor
No-load-speed, mrpm 200 rpm
rad/sec, mrps 20.9
Stall Torque, Ts 2 N-m
Maximum Motor Power 10.5 Watts
Torque/speed relation, mt -0.095 N-m/rps
Machine
Mass, mkg 4 kg
Coefficent of friction between wheels and beam, mu 0.3
Practicle wheel diameter, Dw 0.1 m
Machine normal force on wheel, FmN 19.6 N
Maximum tractive effort per wheel, Ftraction 5.88 N
Travel
Distance to end of beam, Dbeam 1m
Calculations: optimal wheel diameter
Wheel diameter to fully utilize motor torque, dwheel 0.340 m
Machine speed with this wheel diameter 1.78 m/s
Calculations: practicle wheel diameter
Motor torque to slip, Tm 0.294 N-m
Motor speed at motor torque to slip, mrpmslip 17.87 rps
rpm 170.6
Machine speed with this wheel diameter, Vm 0.89 m/s
Machine acceleration, am 2.94 m/s^2
g's 0.3 !!!!! Mu !!!!
Time to move
Time to reach maximum speed, tmaxv 0.30 s
Distance traveled, xa 0.14 m
Distance to travel at constant velocity, xc 0.73 m
Time to move distance xc, tc 0.82 s
Total move time, ttotl 1.42 s