Академический Документы
Профессиональный Документы
Культура Документы
T
he following information helps Where: Hollow cylinder rotating about
you solve technical problems P 5 Power, hp its own axis:
frequently encountered in de-
signing and selecting motion control
Q 5 Flow rate, gpm
H 5 Head, ft
WK =2 (
W R12 + R22 ) (10 )
components and systems. S 5 Specific gravity of fluid 2
m 5 Pump efficiency
Where:
Torque Fans and blowers: WK2 5 Moment of inertia, lb-ft2
T 5 FR (1) W 5 Weight of object, lb
Qp R1 5 Outside radius, ft
P= (6 )
Where: 229m R2 5 Inside radius, ft
T 5 Torque, lb-ft
F 5 Force, lb Where:
R 5 Radius, or distance that the P 5 Power, hp
force is from the pivotal point, ft Q 5Flow rate, cfm
p 5 Pressure, psi
m 5 Efficiency 2
V
Linear to rotary motion WK L2 = W (11 )
2pN
V
N= (2 ) Accelerating torque and force
0.262 D
Of rotating objects Material in linear motion with
Where:
N 5 Speed of shaft rotation, rpm
T=
(WK )DN 2
(7 )
a continuous fixed relation to a
rotational speed, such as a con-
V 5 Velocity of material, fpm 308 t veyor system:
D 5 Diameter of pulley or sprocket, 2
in. Where: V
WK L2 = W (11 )
T 5Torque required, lb-ft 2pN
WK2 5 Total inertia of load to be ac-
Horsepower celerated, lb-ft2. (See Formulas 9, 10, Where:
Rotating objects: 11, and 12.) WKL2 5 Linear inertia, lb-ft2
DN 5 Change in speed, rpm W 5 Weight of material, lb
TN t 5Time to accelerate load, sec V 5 Linear velocity, fpm
P= (3 )
5, 250 N 5 Rotational speed of shaft, rpm
Objects in linear motion:
Where: Reflected inertia of a load
WDV
P 5Power, hp F= (8 ) through a speed reduction means
T 5 Torque, lb-ft 1, 933 t — gear, chain, or belt system:
N 5 Shaft speed, rpm
WK L2
Where: WK R2 = (12 )
Objects in linear motion: F 5Force required, lb Rr2
W 5 Weight, lb
FV DV 5Change in velocity, fpm Where:
P= (4 )
33, 000 t 5 Time to accelerate load, sec WKR2 5 Reflected inertia, lb-ft2
WKL2 5 Load inertia, lb-ft2
Where: Rr 5 Reduction ratio
P 5 Power, hp
Moment of inertia
F 5 Force, lb Solid cylinder rotating about
V 5 Velocity, fpm its own axis:
Duty cycle calculation
The RMS (root mean square) value
Pumps: WK2 5(1/2)WR2 (9) of a load is one of the quantities often
Where: used to size PT components.
QHS WK2 5 Moment of inertia, lb-ft2
P= (5 ) W 5 Weight of object, lb L12 t1 + L22 t2 + ... + L2n tn
3, 960m LRMS = (13 )
R 5 Radius of cylinder, ft t1 + t2 + ... + tn
*The ultimate strength in compression for ductile materials is usually taken as the yield point. The bearing value for pins and rivets may be much higher, and for structural steel is taken as
90,000 psi.Source: S.I. Heisler, The Wiley Engineer’s Desk Reference, 1984. Used with permission of John Wiley & Sons, New York.
Where: Where:
L RMS 5 RMS value of the load E 5 Modulus of elasticity,
which can be in any unit, hp, amp, etc. lb/in.2
L1 5 Load during time of period 1 P 5 Axial load, lb
L2 5 Load during time of period 2, L 5 Length of object, in.
etc. A 5 Area of object, in.2
t1 5 Duration of time for period 1 Dd 5 Increase in length re-
t2 5 Duration of time for period 2, sulting from axial load, in.
etc.
General technical
references
1. S.I. Heisler, The Wi-
ley Engineer’s Desk Ref-
erence, John S. Wiley &
Sons, New York, 1984.
2. Hindehide, Zimmer-
man, Machine Design Funda- Reston, Va., 1984.
mentals, John S. Wiley & Sons, 4. ASM Handbook of Engineering
New York, 1983. Mathematics, American Society of
Modulus of elasticity 3. K.M. Walker, Applied Mechanics Metals, Metals Park, Ohio, 1983.
PL for Engineering Technology, Third 5. The Smart Motion Cheat Sheet,
E= (14 ) Edition, Reston Publishing Co. Inc., Amechtron Inc., Denton, Texas 1995.
ADd
Multiply By To obtain
Length
Angstrom units 3.937 3 10-9 in.
cm 0.3937 in.
ft 0.30480 m
in. (U.S.) 2.5400058 cm
in. (British) 0.9999972 in. (U.S.)
m 1010 Angstrom units
m 3.280833 ft
m 39.37 in.
m 1.09361 yd
m 6.2137 3 1024 miles (U.S. statute)
yd 0.91440 m
miles (U.S. statute) 5,280 ft
Area
cir mils 7.854 3 1027 in.2
cm2 1.07639 3 1023 ft2
cm2 0.15499969 in.2
ft2 0.092903 m2
ft2 929.0341 cm2
in.2 6.4516258 cm2
Volume
cm3 3.531445 3 1025 ft3
cm3 2.6417 3 1024 gal (U.S.)
cm3 0.033814 oz (U.S. fluid)
ft3 (British) 0.9999916 ft3
ft3 (U.S.) 28.31625 L (liter)
m3 264.17 gal (U.S.)
gal (British) 4,516.086 cm3
gal (British) 1.20094 gal (U.S.)
gal (U.S.) 0.13368 ft3 (U.S.)
gal (U.S.) 231 in.3
gal (U.S.) 3.78533 L (liter)
gal (U.S.) 128 oz (U.S. fluid)
oz (U.S. fluid) 29.5737 cm3
oz (U.S. fluid) 1.80469 in.3
yd3 0.76456 m3
yd3 (British) 0.76455 m3
Plane angle
radian 57.29578 deg
Weight
Dynes 2.24809 3 1026 lb
kg 35.2740 oz (avoirdupois)
kg 2.20462 lb
kg 0.001 tons (metric)
kg 0.0011023 tons (short)
oz (avoirdupois) 28.349527 grams
tons (long) 1,106 kg
tons (long) 2,240 lb
tons (metric) 1,000 kg
tons (metric) 2,204.6 lb
tons (short) 2,000 lb
Velocities
feet/sec (fps) 0.68182 mph
meters per sec 2.23693 mph
rpm 0.10472 radians/sec
mph 44.7041 cm/sec
mph 1.4667 fps
Temperature
deg C 5 0.555 (deg F 2 32)
deg F = 1.8 (deg F) + 32
Pressure
atmosphere 14.696 psi
atmosphere 10,333 kg/m2
lb/ft2 4.88241 kg/m2
psi 70.307 grams/cm2
psi 703.07 kg/m2
Force
Newton 0.22481 lb
Newton 9.80 kg
Torque
lb-in. 0.113 (Newton-meters) N-m
lb-ft 1.356 N-m
lb-ft 1.3558 3 107 dyne-cm
oz-in. 0.00706 N-m
Energy
lb-in. 0.113 W-sec
lb-in. 0.113 j (joule)
Btu 251.98 calories
Btu 1,055.06 j
Power
gram-cm/sec 9.80665 3 1025 W
hp 2,545.08 Btu (mean)/hr
hp 550 lb-ft/sec
hp 0.74570 kW
hp 5,250 lb-ft/rpm
Inertia
Mass inertia:
lb-in.2 2.93 3 1024 kg-m2
oz-in.2 1.83 3 1025 kg-m2
kg-cm2 1024 kg-m2
Weight inertia:
lb-in.-sec2 1.13 3 1024 kg-m2
in-oz-sec2 7.06 3 1023 kg-m2
lb-ft-sec2 1.355 kg-m2
Source: S.I. Heisler, The Wiley Engineer’s Desk Reference, 1984. Used with permission of John Wiley & Sons, New York.
The Smart Motion Cheat Sheet, Brad Grant, Amechtron Inc., Denton, Texas.
T
he first step in determining the
requirements of a motion-con- rad/sec2
trol system is to analyze the e = Efficiency
mechanics — including friction and Fl = Load force, lb
inertia — of the load to be positioned. Ff = Friction force, lb
Load friction can easily be determined Fpf = Preload force, lb
either by estimating or by simply mea- g = Gravitational constant,
suring with a torque wrench. 386 in./sec2
Inertia — the resistance of an ob- Figure 1 — Solid cylinder. Iacc = Current during
ject to accelerate or decelerate — de- acceleration, A
fines the torque required to accelerate Irms = Root-mean-squared
a load from one speed to another, but current, A
it excludes frictional forces. Inertia is J = Inertia, lb-in.-sec2
calculated by analyzing the mechani- Jls = Leadscrew inertia,
cal linkage system that is to be lb-in.-sec2
moved. Such systems are categorized Jl = Load inertia, lb-in.-sec2
as one of four basic drive designs: di- Jm = Motor inertia, lb-in.-sec2
rect, gear, tangential, or leadscrew. Jt = Total inertia, lb-in.-sec2
In the following analyses of me- Jp = Pulley inertia, lb-in.-sec2
Figure 2 — Hollow cylinder.
chanical linkage systems, the equa- Kt = Torque constant, lb-in./A
tions reflect the load parameters back L = Length, in.
to the motor shaft. A determination of m = Coefficient of friction
what the motor “sees” is necessary for N = Gear ratio
selecting both motor and its control. Nl = Number of load gear teeth
Nm= Number of motor gear
teeth
Cylinder inertia Motor Load p = Density, lb/in.3
The inertia of a cylinder can be cal- P= Pitch, rev/in.
culated based on its weight and ra- Figure 3 — Direct drive. Load is coupled Pdel = Power delivered to the
dius, or its density, radius, and directly to motor without any speed load, W
length. changing device. Pdiss = Power (heat) dissipated
Solid cylinder, Figure 1. by the motor, W
Based on weight and radius: motor requirements. Pp = Total power, W
Example: If a cylinder is a lead- R = Radius, in.
N NL − N FL
×100 screw with a radius of 0.312 in. and a Ri= Inner radius, in.
N FL length of 22 in., the inertia can be cal- Rm = Motor resistance, V
culated by using Table 1 and substi- Ro= Outer radius, in.
Based on density, radius, and tuting in equation 2: Sl = Load speed, rpm
length: Sm = Motor speed, rpm
( )( )( )
4
πLρR 4 πLρR 4 π 22 0.28 0.312 tacc = Acceleration time, sec
J= =
J=
2g
(2 ) 2g 2 386 ( ) tdec = Deceleration time, sec
tidle = Idle time, sec
trun = Run time, sec
Hollow cylinder, Figure 2. = 0.000237 lb - in.- sec 2 T = Torque, lb-in.
Based on weight and radius:
Tacc = Acceleration torque, lb-in.
J=
W 2
2g
(
Ro + Ri2 ) (3 )
Direct drive
The simplest drive system is a di-
Tdec = Deceleration torque, lb-in.
Tf = Friction torque, lb-in.
Tl = Load torque, lb-in.
rect drive, Figure 3. Because there are Tm = Motor torque, lb-in.
Based on density, radius, and no mechanical linkages involved. The Tr = Torque reflected to motor,
length: load parameters are directly trans- lb-in.
( )
πLρ 4 mitted to the motor. The speed of the Trms = Root-mean-squared
J= Ro − Ri4 (4 ) motor is the same as that of the load, torque, lb-in.
2g so the load friction is the friction the Trun = Running Torque, lb-in.
With these equations, the inertia of motor must overcome, and load iner- Ts = Stall torque, lb-in.
mechanical components (such as tia is what the motor “sees.” There- Vl = Load speed, ipm
shafts, gears, drive rollers) can be cal- fore, the total inertia is the load iner- W= Weight, lb
culated. Then, the load inertia and tia plus the motor inertia. Wlb= Weight of load plus belt, lb
friction are reflected through the me- Jt = Jl + Jm (5 )
chanical linkage system to determine
( )
2
Motor Tangential drive WR 2 10 2.5
Jl = =
Consisting of a timing belt and pul- g 386
ley, chain and sprocket, or rack and
Load pinion, a tangential drive, Figure 5, Total inertia reflected to the motor
Nl
also requires reflecting load parame- shaft is the sum of the two pulley iner-
ters back to the motor shaft. tias plus the load inertia:
Figure 4 — Speed changer between load Motor speed:
and motor. Any speed changing device — J = J l + J p1 + J p2
gearing, belt, or chain — alters the V
Sm = l (11 ) = 0.1619 + 0.0747 + 0.0747
reflected inertia to the motor by the 2πR
square of the speed ratio. Load torque: = 0.3113 lb - in.- sec.2
()
2
WR 2 6 2 Motor
Jl = = Steel on steel (dry) 0.58
2g 2 386 ( ) Steel on steel
(lubricated) 0.15
= 0.031 lb - in.- sec 2
Figure 5 — Tangential drive. The total Teflon on steel 0.04
To reflect this inertia through the load (belt plus load) is moved with a lever Ball bushing 0.003
gear set to the motor, substitute in arm with a radius, R.
Encoder
Friction torque: Speed and position feedback or resolver
1 Ff
Tf = (19 ) Figure 7 — Basic motion system.
2π Pe
Total inertia:
2 2,000
W 1
Jt = + J ls + J m (20 )
g 2πP
Speed, rpm
COMPUTER TERMINOLOGY
H
ere are some of the vocabu- of individuals who are signed into a E-mail — Electronic mail sup-
lary used in digital commu- particular Chat Room. Usually they ported across the Internet. Requires
nication, whether it is be- have a posted subject for discussion. an address consisting of the Internet
tween user and machine, machine Many times the same individuals re- name or number of the recipient at
and machine, or user and user. They turn to the same room at the same the specific service provider. A Com-
are words used by those involved with time each day. puServe address has a series of num-
PCs, PLCs, and control devices. Connectivity — The ability to bers: 1111.1111@compuserve.com. No
have one device connect, attach, or spaces are allowed between letters or
BBS — Bulletin board systems of- communicate with another. numbers.
fer forums, mostly local or regional.
They support all types of communica- Data highway — Another term Fieldbus — A general term used
tion, conversation, and postings. for bus or network. Also, a network to describe any bus that connects
system created by Allen-Bradley. devices to microprocessor-based
Bit — Symbolic representation of an controls. Synonymous with device-
“On” or “Off” state of a device. In compu- Distributed — In communica- level bus, sensor-actuator bus, mid-
ter code, it is indicated as a “1” or a “0.” tions, a configuration where control, level bus.
command execution ability, or intelli-
Browsers — Graphics-based soft- gence (such as microprocessor intelli- File Transfer Protocol (FTP) —
ware programs that let you reach a gence) is spread among two or more The means by which computer files
variety of locations on the Internet devices. and software programs are trans-
and move from one to the other (surf). ferred from a host computer to recipi-
They also retrieve and display infor- Domain or zone — Part of an In- ent’s computers.
mation, both text and graphics, from ternet address. It consists of a two or
these locations. Examples include three-letter designation for the type Finger — Search capability for e-
Netscape and Mosaic. of organization or geographical loca- mail addresses where location is
tion, such as: known but e-mail address is not.
Bus — Years ago, bus referred to
the path or paths data traveled on the .com...Commercial Organizations Foundation fieldbus — A specifi-
backplane of a computer board. The cation for process applications.
definition is broadening to include .gov.....Government Departments
data traveling within the physical .edu .......Educational Institutions Gateway — Software on a board or
medium of a few wires or cables. .mil...................................Military chip that converts one communication
protocol to another. Like converting a
.net ..................Networking Units
Byte — Eight 1s or 0s grouped to- DOS program to an Apple-based pro-
gether, in any combination. Each .org.............Professional Societies gram. Sometimes gateways also con-
group of eight bits represents an in- .US..........................United States vert cable types.
struction, a command, or datum. .JP .......................................Japan
Gopher — Menu-based system
.UK or .GB .........United Kingdom
Chat channels — Addresses on that helps find data residing on com-
the Internet where real time “conver- .DE .................................Germany puters at various locations. Some-
sations” take place between groups times a long process down a series of