Rotational Plant: Read The Description of The Experimental Rotational Plant

Rotational Plant
**Read the Description of the Experimental Rotational Plant**

DC motor
Power cable
Encoder output
Gear set
Flex coupling
Gear set
Copper flywheel
Flywheel
11/28/13
2.004 Spring 13'

1
J 3 10
kg m2
Mechanical system components:

rotation
Table John Wiley & Sons. All rights reserved. This content is excluded from our Creative
Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.
Nise Table 2.5

02/07/2013
2.004 System Dynamics and Control Spring 2013

2
Mechanical system components: rotation: gears
Nise Figure 2.27, 2.28

02/07/2013
Figure John Wiley & Sons. All rights reserved. This content is excluded from our Creative

3
Gear transformations
Nise Figure 2.29

02/07/2013

4
Rotational mechanical system:

example
Nise Figure 2.30a-b
02/07/2013

5
Damping Model
Viscous Damping
Coulomb Damping
Coulomb damping results from the sliding of two
dry surfaces. The friction generated by the relative
motion of the two surfaces is a source of energy
dissipation. It is opposite to the direction of motion
and is independent of surface area, displacement or
position, and velocity
2/13/2013
2.004 Spring 13'

6
Kinetic
Static
Coulomb friction
velocity
friction
friction
velocity
Coulomb friction is in opposite direction to the velocity;

the magnitude of the friction force is independent of the
magnitude of the velocity
Example: Block sliding on a rough surface
02/07/2013

7
Viscous friction
velocity
friction
friction
velocity
Viscous friction is in opposite direction to the velocity;

the magnitude of the friction force is proportional to the
magnitude of the velocity
02/07/2013

8
Eddy Currents Viscous friction

Eddy currents are generated when there is relative motion between a conducting object and a
magnetic field. The rotating currents in the conducting object are due to electrons experiencing a
Lorentz force that is perpendicular to their motion and the magnetic field (F=qvB).
The Lorentz force results in current in the radial direction on the flywheel; these currents, since the
wheel is turning, result in an opposing magnetic field and a force resisting the motion.
The Eddy current and the resisting force are both proportional to the velocity |v|; therefore, they resist
motion in a way that is exactly equivalent to viscous friction.
11/28/13
2.004 Spring 13'

9
In-class experiment
Familiarize with the laboratory equipment and software
tools
Study the frictional characteristics of the motor, gear train,
and bearings in the flywheel system
Explore the effect of damping on the flywheel system
10
Optical Encoders
Regular phase
Quadrature phase
Hewlett Packard. All rights reserved. This content is excluded from our Creative
11/28/12
2.004 Spring 12'

11
US Digital Optical Encoder E6S-2048-187

Quick, simple assembly and
disassembly
Rugged screw-together housing
Positive finger-latching connector
Accepts .010" axial shaft play
Tracks from 0 to 100,000 cycles/sec
64 - 2500 CPR | 256 to 10,000 PPR
2 channel quadrature TTL
squarewave outputs
Max speed = 2,400 rpm
Optional index (3rd channel)

-40 to +100C operating temperature
Fits shaft diameters from 2mm to 1"
source unknown. All rights reserved. This content is excluded from our Creative
11/28/12
2.004 Spring 12'

12
Converting Tachometer reading

You will monitor the angular velocity profile using the ETach2 electronic
tachometer that is attached to the rotary encoder on the flywheel shaft.
It produces an analog voltage vo proportional to the shaft speed ! ! Vo = Kt !

where the tachometer constant Kt = 0.016 volts/rpm
V0 (t)
!(t) =
Kt
13
Procedure
Spin the flywheel by hand, and record the angular velocity decay !(t), using the computer-based
Chart Recorder(VI),(Remember to convert the Chart Recorder output to angular velocity.)
Repeat the same procedure with one and two magnets (damper) on the flywheel
Generate clearly labeled plots and indicate, for each case, which kind of friction dominate the
damping behavior. For viscous damping, also compute the time constant . (J 3 10
kg m2 )
Extra credit: Can you determine the damping coefficient for each viscous case and torque due to
Save your data so that it is readily available later

(online or on USB.)
Coulomb friction (Assume the eect of Coulomb damping is significantly smaller than the eect
of viscous damping)
You will need them for Problem Set 1.

Hand in your results at the end of class.
14
Making A Good Plot with MATLAB

Put a meaningful title
Label each axis (with proper unit)
Label each data source
MATLAB commands:
>> mydata;
>> plot(t_mydata,v_mydata);
>> title(Lab 1 (no mag));
>> xlabel(Time (s));
>> ylabel(Voltage(V));
>> legend(Velocity,Linear);
>> grid;
>>
Courtesy of The MathWorks, Inc. Used with permission. MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See www.mathworks.com/trademarks
for a list of additional trademarks. Other product or brand names may be trademarks or registered trademarks of their respective holders.
11/28/13
15
2.004 Spring 13'
Solving the equations of motion
For pure Coulomb damping: J !(t)
= Text (t)
Tc (t)
(The external torque is 0 for our experiment, Tc (t) is relatively constant Tc )

Tc
J t
Solving this ODE =) !(t) = !0
+ Jb !(t) = 0
For pure viscous damping: J !(t)
+ b!(t) = Text =) !(t)

Solving this ODE =) !(t) = !0 e
( Jb )t
16
Fitting an Exponential Function

Estimate from the time at which the response has decayed to:
Slope method
2/13/2013
2.004 Spring 13'

17
Fitting an Exponential Function

Log linear fit:
2/13/2013
2.004 Spring 13'

18
MIT OpenCourseWare
http://ocw.mit.edu
2.04A Systems and Controls

Spring 2013
For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

Rotational Plant: Read The Description of The Experimental Rotational Plant

Uploaded by

Copyright:

Available Formats

Rotational Plant: Read The Description of The Experimental Rotational Plant

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Rotational Plant: Read The Description of The Experimental Rotational Plant

Uploaded by

Copyright:

Available Formats

Rotational Plant

**Read the Description of the Experimental Rotational Plant**

2.004 Spring 13'

Mechanical system components:

Nise Table 2.5

2.004 System Dynamics and Control Spring 2013

Mechanical system components: rotation: gears

Nise Figure 2.27, 2.28

2.004 System Dynamics and Control Spring 2013

Nise Figure 2.29

2.004 System Dynamics and Control Spring 2013

Rotational mechanical system:

Nise Figure 2.30a-b

2.004 System Dynamics and Control Spring 2013

2.004 Spring 13'

Coulomb friction is in opposite direction to the velocity;

2.004 System Dynamics and Control Spring 2013

Viscous friction is in opposite direction to the velocity;

2.004 System Dynamics and Control Spring 2013

Eddy Currents Viscous friction

2.004 Spring 13'

2.004 Spring 12'

US Digital Optical Encoder E6S-2048-187

Max speed = 2,400 rpm

Optional index (3rd channel)

2.004 Spring 12'

Converting Tachometer reading

tachometer that is attached to the rotary encoder on the flywheel shaft.

It produces an analog voltage vo proportional to the shaft speed ! ! Vo = Kt !

Save your data so that it is readily available later

You will need them for Problem Set 1.

Making A Good Plot with MATLAB

2.004 Spring 13'

Solving the equations of motion

For pure Coulomb damping: J !(t)

(The external torque is 0 for our experiment, Tc (t) is relatively constant Tc )

Solving this ODE =) !(t) = !0

+ b!(t) = Text =) !(t)

Fitting an Exponential Function

2.004 Spring 13'

Fitting an Exponential Function

2.004 Spring 13'

2.04A Systems and Controls

You might also like

Read the Description of the Experimental Rotational Plant