Maximizing Motor Power at

Constant Voltage

Principles of Engineering © 2012 Project Lead The Way, Inc.

Speed Depends on Load Torque

When a motor is loaded with no torque,

it spins at no-load speed, w0 .
w0 = no-load speed

When a motor is loaded with the stall torque

tstall or more, the motor will stop.
tstall = stall torque
 Speed vs. Torque is Linear

No-load speed
w0
Speed w

Half speed

Stall

  − 𝝎𝟎 tstall
𝝎= ∙ 𝝉 + 𝝎𝟎 Torque t
𝝉 𝒔𝒕𝒂𝒍𝒍
Optional slide for the genius:
Speed vs. Torque Depends on Voltage

Speed w
7
V
5 m
V ot
or
m sp
3 ot ee
V or d
m pe s 12
ot 0
or ed
sp 90
ee
d
60
Torque t
Power

Power = Torque x Angular Speed

P=t • w
Power = Torque x Speed

No power. Why?
w0
Speed w

No power. Why?

tstall
Torque t
 Maximum Power at Half Stall Torque

w0
Speed w

Maximum power.
Why?

tstall
 
tstall
  − 𝝎𝟎
𝝎=
𝝉 𝒔𝒕𝒂𝒍𝒍
∙ 𝝉 + 𝝎𝟎 Torque t
Why half stall torque?
  − 𝝎𝟎 Linear equation
𝝎= ∙ 𝝉 + 𝝎𝟎
𝝉 𝒔𝒕𝒂𝒍𝒍 from last slide.

 
− 𝝎𝟎 Multiply both
𝑷=
[
𝝉 𝒔𝒕𝒂𝒍𝒍 ]
∙ 𝝉 +𝝎 𝟎 (𝝉 ) sides by torque,
product on left is
power.
  − 𝝎𝟎 𝟐
𝑷= ∙ 𝝉 + 𝝎𝟎 𝝉 Down-facing
𝝉 𝒔𝒕𝒂𝒍𝒍
parabola.
Maximum Power at Half Stall Torque
  − 𝝎𝟎 𝟐
𝑷= ∙ 𝝉 + 𝝎𝟎 𝝉
𝝉 𝒔𝒕𝒂𝒍𝒍
Power P
Maximum power

tstall
 

No load Stall
Torque t
VEX® Application: Pick a Gear
Ratio
Step 1. This motor is stalled. What is the
stall torque?
tstall = d x F┴

F = 1.4 lb
= (3 in.)(1.4 lb)
= 4.2 lb·in.

VEX motor
d = 3 in.
Step 2. At what torque will the motor deliver
maximum power? tmaxPower = ½ tstall
= ½ (4.2 lb·in.) = 2.1 lb·in.
VEX Application: Pick a Gear Ratio
Step 3. The same motor as in
the last slide is being used to
power a winch with a drum of
radius 2 in. lifting 0.2 lb. What
torque is the motor applying?
tout = d x F┴
d=

= (2 in.)(0.2 lb)
2i

F = 0.2 lbs

= 0.4 lb·in.
n.
VEX Application: Pick a Gear Ratio
Step 4. Instead of direct
drive, what gear ratio would
make the motor deliver
maximum power?
 
GR =
d=
2i

F = 0.2 lbs
n.
VEX Application: Pick a Gear Ratio
Now the winch is geared so
that the motor is delivering
half its stall torque, for
maximum power.
 
GR
GR==
Human Application: Bicycle “gears”
Can you explain why changing “gears”
on a bike helps a person win a race
that goes up and down hills?
References
Micromo (n.d.). DC Motors Tutorials. Retrieved from
http://www.micromo.com/dc-motor-tutorials.aspx

MIT Center for Innovation in Product Development (1999).

Designing with DC Motors. Retrieved from
http://lancet.mit.edu/motors/index.html

Wikipedia (2009). Derailleur Bicycle Drivetrain. Retrieved

from http://
en.wikipedia.org/wiki/File:Derailleur_Bicycle_Drivetrain.s
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