Table of Contents

Handy constants, conversion factors ....................................................................................... 1

1.1 Stall Measurements ........................................................................................................ 1
1.2 No-Load Measurement .................................................................................................... 1
Calculations for Part 1 ......................................................................................................... 2

Handy constants, conversion factors

m_to_in = 39.37; %Meters to inches
N_to_lbf = 0.2248; %Newtons to pounds force
Nm_to_inlbf = N_to_lbf*m_to_in; %Nm to inchpounds torque
inprsec_ftprmin = 60.0/12; %inches/second to feet/minute
rpm_to_radps = 2*pi/60; %rotations/minute to radians/
second
deg_to_rad = pi/180; %degrees to radians
watt_to_hp = 745.7; %Watts to horsepower
in_to_m = .0254; %Inches to Meters

1.1 Stall Measurements

v11 = [.75, 1.5, 2.25, 3]; %volts
istall = [.08, .18, .26, .35]; %amps
Rmotor = v11./istall; %ohms

1.2 No-Load Measurement

v12 = [1.5, 3.0, 4.5, 6.0]; %volts
iNL = [.04, .04, .05, .06]; %amps
wNL = [2625, 5650, 8800, 12250]; %rpm
wNL = wNL*rpm_to_radps;
NetVoltage = zeros(1,5);
NetVoltage([2,3,4,5]) = v12 - iNL.*Rmotor;
%NetVoltage = v12 - iNL.*Rmotor;
kv = v12./wNL;
kvave = mean(kv);
wNL = [0, 2990, 6662, 9862, 13013]; %rpm
wNL = wNL*rpm_to_radps;
figure (1)
scatter(wNL, NetVoltage)
xlabel('wNL (rad/sec)');
ylabel('Net Voltage (amps)');
lsline;
Tf = kvave*iNL;
Tfave = mean(Tf);

1
Calculations for Part 1
Constants

R = mean(Rmotor); %Ohms
k = kvave; %V rad^-1 s^-1
Tf = Tfave; %N*m

% Variables to change
V_3 = 3.0; %Volts
V_6 = 6.0; %Volts
V_9 = 9.0

% Calculated constants
i_nl_3 = Tf/k;
i_stall_3 = V_3/R;
omega_nl_3 = (V_3-i_nl_3*R)/k;
i_nl_6 = Tf/k;
i_stall_6 = V_6/R;
omega_nl_6 = (V_6-i_nl_6*R)/k;
i_nl_9 = Tf/k;
i_stall_9 = V_9/R;
omega_nl_9 = (V_9-i_nl_9*R)/k;

% Independent variable
omega_3 = linspace(0,omega_nl_3,10000); %rad/s

2
omega_6 = linspace(0,omega_nl_6,10000); %rad/s
omega_9 = linspace(0,omega_nl_9,10000); %rad/s

% Calculated variables

i_3 = (V_3-k*omega_3)/R;
T_3 = (k*i_3 - Tf);
Po_3 = (k*i_3 - Tf) .* omega_3;
i_6 = (V_6-k*omega_6)/R;
T_6 = (k*i_6 - Tf);
Po_6 = (k*i_6 - Tf) .* omega_6;
i_9 = (V_9-k*omega_9)/R;
T_9 = (k*i_9 - Tf);
Po_9 = T_9.* omega_9;

figure (1)
plot(omega_3,Po_3,omega_6,Po_6,omega_9,Po_9);
title('Omega vs Output Power');
xlabel('Omega (rad/s)');
ylabel('Output Power (W)');
legend('3 Volts','6 Volts','9 Volts')

maxPo_3 = max(Po_3); %0.0286

maxPo_6 = max(Po_6); %0.1676
maxPo_9 = max(Po_9);

eff_3 = ((k*i_3 - Tf)./(V_3*i_3)).*omega_3;

eff_6 = ((k*i_6 - Tf)./(V_6*i_6)).*omega_6;
eff_9 = ((k*i_9 - Tf)./(V_9*i_9)).*omega_9;

figure (2)
plot(omega_3,T_3,omega_6,T_6, omega_9,T_9);
title('Omega vs Motor Torque');
xlabel('Omega (rad/s)');
ylabel('Motor Torque (Nm)');
legend('3 Volts', '6 Volts', '9 Volts')

figure (3)
plot(omega_3,eff_3,omega_6,eff_6,omega_9,eff_9);
title('Omega vs Efficiency');
xlabel('Omega (rad/s)');
ylabel('Efficiency');
legend('3 Volts','6 Volts','9 Volts')

[maxEff_3,xIndex_3] = max(eff_3); %0.2083

[maxEff_6,xIndex_6] = max(eff_6); %0.3790
[maxEff_9,xIndex_9] = max(eff_9);

effSpeed_3 = omega_3(xIndex_3); %12.4486

effSpeed_6 = omega_6(xIndex_6); %33.5814
effSpeed_9 = omega_9(xIndex_9);

%{
%% Creating the Table

3
% Choose a V
V = 3;
i_stall = i_stall_3;
i_nl = i_nl_3;

table = zeros(10,7);
table(:,1) = linspace(i_stall,i_nl,10); %i
table(:,2) = (V-table(:,1)*R)/k; %omega
table(:,3) = V*table(:,1); %Power in
table(:,4) = k*table(:,1)-Tf; %Tl
table(:,5) = table(:,4).*table(:,2); %Power out
table(:,6) = table(:,5)./table(:,3); %Efficiency
table(:,7) = table(:,2)*(30/pi); %Omega in RPM
%}

V_9 =

4
5
Published with MATLAB® R2015b