v in gnd to computer torque, tm v increasejeff shelton – 3 march 2015 v in gnd to computer speed,...
TRANSCRIPT
![Page 1: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/1.jpg)
Jeff Shelton – 3 March 2015
V IN
GND
TO COMPUTER
Speed,
Torque, TM
= 0.5 NL
NO LOAD
TSTALL Max Power
T = 0.5 TSTALL
Speed,
Torque, TM
NO LOAD
TSTALL
VIN increase
1
![Page 2: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/2.jpg)
Jeff Shelton – 3 March 2015 2
![Page 3: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/3.jpg)
Jeff Shelton – 3 March 2015 3
Images: http://science.howstuffworks.com/transport/engines-equipment/gear2.htm http://robotshop.com
![Page 4: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/4.jpg)
Jeff Shelton – 3 March 2015 4
Images: http://www.carbibles.com/transmission_bible_pg2.html http://robotshop.com
![Page 5: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/5.jpg)
Jeff Shelton – 3 March 2015
Factor SPUR PLANETARY
Size Larger Smaller
Cost Lower Higher
Load Capacity Lower Higher
Operating Speed Lower Higher
Backlash Higher Lower
Efficiency Lower Higher
Noise Lower Higher
Centerline Offset Inline
5
![Page 6: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/6.jpg)
Jeff Shelton – 3 March 2015 6
Speed, 𝜔𝑀
Torque, TM
Speed, 𝜔𝐿
Torque, 𝑇𝐿
𝑟 = 1 Motor
Load
Speed, 𝜔𝐿
Torque, 𝑇𝐿
𝑟 < 1 Shallower 𝑇-𝜔 curve
Speed, 𝜔𝐿
Torque, 𝑇𝐿 𝑟 > 1
Steeper 𝑇-𝜔 curve
Unchanged 𝑇-𝜔 curve
Gear ratio (or speed ratio):
𝑟 =𝜔𝑀𝜔𝐿
=NLNM
Torque ratio*:
𝑟 =𝑇𝐿𝑇𝑀
* assuming perfect efficiency
![Page 7: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/7.jpg)
Jeff Shelton – 3 March 2015 Image: https://www.sparkfun.com/products/12497
![Page 8: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/8.jpg)
Jeff Shelton – 3 March 2015 https://www.sparkfun.com/products/12310
![Page 9: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/9.jpg)
Jeff Shelton – 3 March 2015
𝑟 =NL
NM=
𝜔𝑀
𝜔𝐿
𝑟 ⋅ 𝜂 =𝑇𝐿
𝑇𝑀
9
![Page 10: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/10.jpg)
Jeff Shelton – 3 March 2015 10
iA LA RA
+
VIN
_
+
VEMF _
JM
TM 𝜃𝑀 , 𝜔𝑀
𝜃𝐿 , 𝜔𝐿 𝑇 disturbance
JL
𝑁𝑀
𝑁𝐿
𝜂
iA LA RA
+
VIN
_
+
VEMF _
JT
TM 𝑇 disturbance𝑟 ⋅ 𝜂
𝜃𝐿 , 𝜔𝐿
𝐽𝑇 = 𝐽𝑀 +𝐽𝐿𝑟2
⇓
𝑟 =𝑁𝐿𝑁𝑀
![Page 11: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/11.jpg)
Jeff Shelton – 3 March 2015
𝐽𝑇
𝐽𝑀𝐽𝐿𝐽𝐺𝑟
𝐽𝑇 = 𝐽𝑀 +𝐽𝐿𝑟2
"reflected inertia"
11
![Page 12: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/12.jpg)
Jeff Shelton – 3 March 2015
Sometimes it takes a bit of work to convert inertia values into the proper units…
![Page 13: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/13.jpg)
Jeff Shelton – 3 March 2015
𝐽𝑀)
13
![Page 14: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/14.jpg)
Jeff Shelton – 3 March 2015
𝐾𝐸𝐿 =1
2𝐽𝐿𝜔𝐿
2
𝑃 =𝑑
𝑑𝑡𝐾𝐸𝐿 =
𝑑
𝑑𝑡
1
2𝐽𝐿𝜔𝐿
2 = 𝐽𝐿𝜔𝐿 ⋅𝑑
𝑑𝑡𝜔𝐿
𝑃𝐿 =𝐽𝐿𝑟2𝜔𝑀 ⋅
𝑑
𝑑𝑡𝜔𝑀 =
𝐽𝐿𝑟2𝜔𝑀 ⋅ 𝛼𝑀
𝛼𝑀 =𝑇𝑀
𝐽𝑇=
𝑇𝑀𝑟2
𝐽𝑀𝑟2+𝐽𝐿
and 𝜔𝑀 = 𝛼𝑀 ⋅ 𝑡
𝑃𝐿 = 𝐽𝐿𝑟2𝑡 ⋅
𝑇𝑀2
𝐽𝑀𝑟2 + 𝐽𝐿
2
𝐽𝑀 =1
𝑟2𝐽𝐿 or 𝑟 =
𝐽𝐿
𝐽𝑀
14
![Page 15: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/15.jpg)
Jeff Shelton – 3 March 2015
15
![Page 16: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/16.jpg)
Jeff Shelton – 3 March 2015 16
Images: http://electrolift.com/the-worm-gear-advantage.php http://www.longwaymotor.com/imagefile/pro/125013500416790.jpg
![Page 17: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/17.jpg)
Jeff Shelton – 3 March 2015
𝐾𝑇 𝑖𝐴 𝑇𝑀
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
17
![Page 18: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/18.jpg)
Jeff Shelton – 3 March 2015
𝐾𝑇 𝑖𝐴 𝑇𝑀 1
𝐿𝐴𝑠 + 𝑅𝐴
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
𝑉𝑀
18
![Page 19: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/19.jpg)
Jeff Shelton – 3 March 2015
𝐾𝑇 𝑖𝐴 𝑇𝑀 1
𝐿𝐴𝑠 + 𝑅𝐴
𝑉𝑀
−𝐾𝐸𝑀𝐹
𝑉𝐼𝑁
𝜔
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
19
![Page 20: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/20.jpg)
Jeff Shelton – 3 March 2015
𝐾𝑇 𝑖𝐴 𝑇𝑀 1
𝐿𝐴𝑠 + 𝑅𝐴
𝑉𝑀
−𝐾𝐸𝑀𝐹
𝑉𝐼𝑁
𝜔
𝑇𝐿
𝑇𝑜𝑢𝑡
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
20
![Page 21: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/21.jpg)
Jeff Shelton – 3 March 2015
𝐾𝑇 𝑖𝐴 𝑇𝑀 1
𝐿𝐴𝑠 + 𝑅𝐴
𝑉𝑀
−𝐾𝐸𝑀𝐹
𝑉𝐼𝑁
𝑇𝐿
𝑇𝑜𝑢𝑡 1
𝐽𝑀𝑠 + 𝑏𝑀 𝜔
Ω 𝑠 =𝐾𝑇
𝐿𝐴𝐽𝑀𝑠2 + 𝑏𝑀𝐿𝐴 + 𝑅𝐴𝐽𝑀 𝑠 + 𝑅𝐴𝑏𝑀 + 𝐾𝐸𝑀𝐹𝐾𝑇
⋅ 𝑉𝐼𝑁 𝑠
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
21
𝜏 = 𝐽𝜔 + 𝑏𝜔
![Page 22: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/22.jpg)
Jeff Shelton – 3 March 2015
−𝐾𝐸𝑀𝐹
𝑉𝐼𝑁
𝑇𝐿
𝑇𝑜𝑢𝑡 1
𝐽𝑀𝑠 + 𝑏𝑀 𝜔
𝐾𝑇𝑅𝐴
𝑇𝑀 𝑉𝑀
Ω 𝑠 =𝐾𝑇
𝑅𝐴𝐽𝑀 𝑠 + 𝑅𝐴𝑏𝑀 + 𝐾𝐸𝑀𝐹𝐾𝑇⋅ 𝑉𝐼𝑁 𝑠
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
22
![Page 23: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/23.jpg)
Jeff Shelton – 3 March 2015
−𝐾𝐸𝑀𝐹
𝑉𝐼𝑁
𝑇𝐿
𝑇𝑜𝑢𝑡 1
𝐽𝑀𝑠 𝜔
𝐾𝑇𝑅𝐴
𝑇𝑀 𝑉𝑀
Ω 𝑠 =𝐾𝑇
𝑅𝐴𝐽𝑀 𝑠 + 𝐾𝐸𝑀𝐹𝐾𝑇⋅ 𝑉𝐼𝑁 𝑠
iA LA RA
+
VIN
_
+
VEMF _
JM
TM
TL
q,
+ VM -
23
![Page 24: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/24.jpg)
Jeff Shelton – 3 March 2015
Time, t
Spe
ed,
𝜔𝑠𝑠
Ω 𝑠 =𝐾𝑇
𝑅𝐴𝐽𝑀𝑠+𝐾𝐸𝑀𝐹𝐾𝑇⋅ 𝑉𝐼𝑁 𝑠 ⇒
Ω 𝑠
𝑉𝐼𝑁 𝑠=
𝐺 0
𝜏𝑀𝑠+1
𝐺 0 =𝐾𝑇
𝐾𝐸𝑀𝐹𝐾𝑇=
1
𝐾𝐸𝑀𝐹
𝜏𝑀 =𝑅𝐴𝐽𝑀
𝐾𝐸𝑀𝐹𝐾𝑇
24
![Page 25: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/25.jpg)
Jeff Shelton – 3 March 2015
25
![Page 26: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/26.jpg)
Jeff Shelton – 3 March 2015
KT 1
LA s + RA
KEMF
-
+ 1 JL s + B
Power Amplifier (Driver)
VCMD VM
26
![Page 27: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/27.jpg)
Jeff Shelton – 3 March 2015
RB
RA VCMD
Bipolar Unipolar
RB
RA
VCMD VA
VM
𝑉𝐴𝑉𝑀
=𝑅𝐴
𝑅𝐴 + 𝑅𝐵
𝑉CMD =𝑅𝐴
𝑅𝐴 + 𝑅𝐵𝑉𝑀 ⇒ 𝑉𝑀 =
𝑅𝐴 + 𝑅𝐵𝑅𝐴
𝑉CMD
27
![Page 28: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/28.jpg)
Jeff Shelton – 3 March 2015
Current Amplifier (Driver) Current Measurement
Commanded Current (voltage)
28
![Page 29: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/29.jpg)
Jeff Shelton – 3 March 2015
VCMD
29
![Page 30: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/30.jpg)
Jeff Shelton – 3 March 2015
30
![Page 31: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/31.jpg)
Jeff Shelton – 3 March 2015
Electric Motors
DC Motors
Permanent Magnet
Series Wound
Compounded
Shunt Wound
Separately Excited
Brushed
Brushless
Stepper
AC Motors
Reluctance
Hysteresis
Synchronous
Induction
Wound Rotor
Squirrel Cage
Permanent Magnet
31
![Page 32: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/32.jpg)
Jeff Shelton – 3 March 2015
32
![Page 33: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/33.jpg)
Jeff Shelton – 3 March 2015
33
![Page 34: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/34.jpg)
Jeff Shelton – 3 March 2015
Commutation Brushes
Power Brushes Head (Table)
N S Channel
(Guide way)
34
![Page 35: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/35.jpg)
Jeff Shelton – 3 March 2015
35
Commutation Brushes
Power Brushes Head (Table)
N S Channel
(Guide way)
![Page 36: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/36.jpg)
Jeff Shelton – 3 March 2015
Shaft (Rotor) Angle
I1
I2
I3
36
![Page 37: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/37.jpg)
Jeff Shelton – 3 March 2015
Electric Motors
DC Motors
Permanent Magnet
Series Wound
Compounded
Shunt Wound
Separately Excited
Brushed
Brushless
Stepper
AC Motors
Reluctance
Hysteresis
Synchronous
Induction
Wound Rotor
Squirrel Cage
Permanent Magnet
37
![Page 38: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/38.jpg)
Jeff Shelton – 3 March 2015 38
Image: http://electronics.howstuffworks.com/brushless-motor.htm
![Page 39: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/39.jpg)
Jeff Shelton – 3 March 2015 39
Image: http://www.rcuniverse.com/magazine/reviews/1344/BrushlessMotors7.jpg
![Page 40: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/40.jpg)
Jeff Shelton – 3 March 2015
Shaft (Rotor) Angle
I1
I2
I3
40
![Page 41: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/41.jpg)
Jeff Shelton – 3 March 2015
41
![Page 42: V IN GND TO COMPUTER Torque, TM V increaseJeff Shelton – 3 March 2015 V IN GND TO COMPUTER Speed, Torque, T M = 0.5 NL NO LOAD T STALL Max Power T = 0.5 T STALL](https://reader030.vdocuments.site/reader030/viewer/2022040911/5e85d5eeaae9087e201d4dd0/html5/thumbnails/42.jpg)
Jeff Shelton – 3 March 2015
42