org.team5419.fault.math.physics

Class DCMotorTransmission

org.team5419.fault.math.physics.DCMotorTransmission

public class DCMotorTransmission

Model of a DC motor rotating a shaft. All parameters refer to the output (e.g. should already consider gearing and efficiency losses). The motor is assumed to be symmetric forward/reverse.

Constructor Summary

Constructors

Constructor and Description
DCMotorTransmission(double speedPerVolt, double torquePerVolt, double frictionVoltage, double stallAmperage) Model of a DC motor rotating a shaft. All parameters refer to the output (e.g. should already consider gearing and efficiency losses). The motor is assumed to be symmetric forward/reverse.

Method Summary

Modifier and Type	Method and Description
double	freeSpeedAtVoltage(double voltage) Returns the idle speed of the motor at this voltage
double	getFrictionVoltage() the voltage needed to overcome static
double	getInternalResistance()
double	getSpeedForVoltageAndAmperage(double voltage, double amperage) Get the theoretical speed for voltage and amperage.
double	getSpeedPerVolt() kV,
double	getStallAmperage() the stall amperage at 12 volts
double	getTorqueForVoltage(double outputSpeed, double voltage) Get the theoretical torque applied by the motor at a given speed and voltage
double	getTorquePerAmp()
double	getTorquePerVolt() N•m per Amp
double	getVoltageForTorque(double outputSpeed, double torque) Get the required voltage for the requested torque at a speed.

Constructor Detail

DCMotorTransmission

public DCMotorTransmission(double speedPerVolt,
                           double torquePerVolt,
                           double frictionVoltage,
                           double stallAmperage)

Model of a DC motor rotating a shaft. All parameters refer to the output (e.g. should already consider gearing and efficiency losses). The motor is assumed to be symmetric forward/reverse.

Parameters:

speedPerVolt - kV, or rad/s per V (no load)

torquePerVolt - N•m per Amp (stall)

frictionVoltage - the voltage needed to overcome static

stallAmperage - the stall amperage at 12 volts

Method Detail

getTorquePerAmp

public double getTorquePerAmp()

getInternalResistance

public double getInternalResistance()

freeSpeedAtVoltage

public double freeSpeedAtVoltage(double voltage)

Returns the idle speed of the motor at this voltage

Parameters:

voltage - The voltage across the motor

Returns:

The theoretical speed in rad/s

getTorqueForVoltage

public double getTorqueForVoltage(double outputSpeed,
                                  double voltage)

Get the theoretical torque applied by the motor at a given speed and voltage

Parameters:

outputSpeed - The speed of the motor in rad/s

voltage - The voltage across the motor

Returns:

The theoretical torque in N•m

getVoltageForTorque

public double getVoltageForTorque(double outputSpeed,
                                  double torque)

Get the required voltage for the requested torque at a speed.

Parameters:

outputSpeed - The output speed of the motor in rad/s

torque - The output torque of the motor in N•m

Returns:

The theoretical voltage for the requested torque and speed

getSpeedForVoltageAndAmperage

public double getSpeedForVoltageAndAmperage(double voltage,
                                            double amperage)

Get the theoretical speed for voltage and amperage.

Parameters:

voltage -

amperage -

Returns:

speed rad/s

getSpeedPerVolt

public double getSpeedPerVolt()

kV,

or rad/s per V (no load)

getTorquePerVolt

public double getTorquePerVolt()

N•m per Amp

(stall)

getFrictionVoltage

public double getFrictionVoltage()

the voltage needed to overcome static

getStallAmperage

public double getStallAmperage()

the stall amperage at 12 volts