Download Rotary Experiment #01: Modeling SRV02 Modeling using QuaRC

SRV02 Modeling Laboratory – Instructor Manual
together and visible from the outside. These gears comprise the external gear box and it has an
associated gear ratio of
N4
Kge =
[8]
N3
.
The gear ratio of the SRV02 gear train is
Kg = Kge Kgi
.
[9]
Thus the torque seen at the motor shaft through the gears is expressed
τ l( t )
τ ml( t ) =
η g Kg
.
[10]
1. Find the relationship between the angular rate of the motor shaft, ωm, and the angular rate of the
load shaft, ωl.
Solution:
T
0 1 2
2. Using the motor-load rate relationship found above, the load equation given in [4], the motor
equation in [5], and the torque equation in [10], find the differential equation that describes the
motion of the load shaft with respect to an applied motor torque. Express the equation found in
terms of the equivalent moment of inertia, Jeq, and the equivalent viscous damping Beq, defined
as shown below
d

Jeq  ω l( t )  + Beq ω l( t ) = η g Kg τ m ( t )
[11]
 dt

.
Ensure both the equation derivation is shown and the Jeq and Beq parameters are found.
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