Question 6.5.3: Calculating Motor-Amplifier Requirements The trapezoidal pro...
Calculating Motor-Amplifier Requirements
The trapezoidal profile requirements for a specific application are given in the following table, along with the load and motor data. Determine the motor and amplifier requirements.
Profile data | ||
Cycle times | t_{1} = 0.2 s, t_{2} = 0.4 s, t_{f} = 0.6 s | |
Load data | ||
Inertia I_{L} = 4 × 10^{−3} kg · m^{2} | Displacement θ_{Lf} = 10 \pi rad | |
Torque T_{L} = 0.1 N · m | Reduction ratio N = 2 | |
Motor data | ||
Resistance R = 2 Ω | Torque constant K_{T} = 0.3 N · m/A | |
Inductance L = 3 × 10^{−3} H | Damping c = 0 | |
Inertia I_{m} = 10^{−3} kg · m^{2} | ||
Time constants | 1.56 × 10^{−3} s and 0.043 s |
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