-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathdesignScriptSI.py
More file actions
131 lines (115 loc) · 6.05 KB
/
designScriptSI.py
File metadata and controls
131 lines (115 loc) · 6.05 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
# Motor sizing script
import numpy as np
import matplotlib.pyplot as plt
import pandas as pd
import calcFunctions as cfnc
from matplotlib import cm
from matplotlib.ticker import LinearLocator
# Motor candidate
# https://www.tokopedia.com/awallaptop/motor-dc-brushless-n5065-270kv-skateboard-electric-12-24v-sensorless?whid=0
# https://www.tokopedia.com/garudawangi/jgb37-3525-dc-12v-brushless-motor-107rpm-gear-reduction-motor-37mm
# https://www.aliexpress.com/item/4000098637815.html --> most likely candidate
# https://www.aliexpress.com/item/1005002074557314.html?spm=a2g0o.detail.0.0.27c05b89LxLA12&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=ac8fde14-2815-47b5-9395-d6771156ac24&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:ac8fde14-2815-47b5-9395-d6771156ac24,tpp_buckets:668%230%23131923%2356_668%23888%233325%238_668%232846%238109%231935_668%232717%237563%23518_668%231000022185%231000066059%230_668%233468%2315617%23846
#https://www.aliexpress.com/item/32922733593.html?spm=a2g0o.productlist.0.0.12835f9fIHb01w&algo_pvid=bbb5385b-64a2-493a-abb2-f3039edf3df0&algo_expid=bbb5385b-64a2-493a-abb2-f3039edf3df0-26&btsid=0bb0624716144817922545553e1790&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_
#https://www.tokopedia.com/tutikstore1/motor-brushless-n5065-330kv-outrunner-sensored-untuk-penyeimbang?whid=0
#https://www.aliexpress.com/item/32922733593.html?spm=a2g0o.productlist.0.0.12835f9fIHb01w&algo_pvid=bbb5385b-64a2-493a-abb2-f3039edf3df0&algo_expid=bbb5385b-64a2-493a-abb2-f3039edf3df0-26&btsid=0bb0624716144817922545553e1790&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_
#https://www.aliexpress.com/item/32292880708.html?spm=a2g0o.productlist.0.0.4e1c706alBmL0x&ad_pvid=202102272326403384652253592160039347259_1&s=p
#https://www.aliexpress.com/item/4000474175391.html?spm=a2g0o.detail.1000060.1.90503649Laids6&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=bc091ad0-1943-4cd8-9a02-a705bf6e3e56&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:bc091ad0-1943-4cd8-9a02-a705bf6e3e56,tpp_buckets:668%230%23131923%2340_668%230%23131923%2340_668%23888%233325%233_668%23888%233325%233_668%232846%238107%231934_668%232717%237561%23344_668%231000022185%231000066059%230_668%233468%2315618%23923_668%232846%238107%231934_668%232717%237561%23344_668%233164%239976%2321_668%233468%2315618%23923
'''
dilema:
Required for application:
Max RPM: 2250 RPM
Max Torque: 0.22 Nm
alternative motor 1: noLoad RPM (3-5x), stall torque (2x),
smaller (dia = 30, length =30) dissipate less heat,
sensorless
price- ~$20-25
alternative motor 2: noLoad RPM (2x), stall torque (10-14x),
bigger (dia = 50, length =50) dissipate more heat,
sensored (hall effect)
price- ~$35-40
NOTE: Make a speed torque comparison + max continuous torque line of 3 motors
'''
# OBJECTIVE:
# -Determine the motor load in torque-RPM.
# 1. INPUT PARMETERS
# a. iterated Data
lead = 8 # mm/rev
diameter = 8 # mm
miu = 0.2 #friction coefficient
gearReduction = 1 #gearbox reduction
gearEff = 1 #gearbox efficiency
# b. MOTOR SPECS
Kv = 330#800 #1000#330 # RPM/V
voltage = 12
internalResistance = 0.038#0.035#0.052#0.038
stallTorque = voltage/internalResistance/(Kv*2*np.pi/60) #[N.m]
noLoadSpeed = voltage*Kv #[RPM]
motorTorqueBarang = np.arange(0, stallTorque, 0.001, dtype = float).T # [N.m]
motorSpeedBarang = (noLoadSpeed - noLoadSpeed/stallTorque*motorTorqueBarang)# [RPM] *60/2/np.pi
# 3. IMPORT LOAD DATA
# b. import force, velocity, power data (mbd calc)
importForce= pd.read_csv('sliderForce135kg.csv')
importVelocity = pd.read_csv('sliderVelocity135kg.csv')
importPower = pd.read_csv('sliderPower135kg.csv')
# import data
sliderForce = importForce.actuatingForceNewton # [N]
print(np.average(sliderForce))
timeForce = importForce.time # [s]
sliderVelocity = importVelocity.sliderVelocitymmsec # [mm/s]
timeVel = importVelocity.time # [s]
sliderPower = importPower.actuationPowerWatt # [watt]
timePower = importPower.time # [s]
#validate
sliderPowerCalc = np.multiply(sliderForce, sliderVelocity/1000)
plt.figure(9)
plt.plot(timeForce, sliderPowerCalc)
plt.plot(timePower, sliderPower)
plt.title('Power')
plt.ylabel('watt]')
plt.xlabel('s')
plt.grid(True)
plt.show()
# 4. Calculating motor torque and angular velocity
motorTorque = sliderForce*(lead/2/np.pi/1000)/cfnc.LSEfficiency(miu, lead, diameter)# [Nm] LSEfficiency(miu, lead, diameter)
motorTorque = motorTorque/gearReduction/gearEff # [Nm]
motorSpeed = sliderVelocity*gearReduction*60/lead# [RPM] *2*np.pi
print(cfnc.LSEfficiency(miu, lead, diameter))
print(cfnc.LSEfficiencyACME(miu, lead, diameter, 30*np.pi/180))
'''# iterating between lead and diameter
lead_iterateX = np.arange(6, 10, 1)
diameter_iterateY = np.arange(6,16,1)
lead_iterate, diameter_iterate = np.meshgrid(lead_iterateX, diameter_iterateY)
maxTorque = np.amax(np.absolute(sliderForce))*(lead/2/np.pi/1000)/cfnc.LSEfficiency(miu, lead_iterate, diameter_iterate)
maxTorque = maxTorque/gearReduction/gearEff*10.197162
#plot surface
fig, ax = plt.subplots(subplot_kw={"projection": "3d"})
surf = ax.plot_surface(lead_iterate, diameter_iterate, maxTorque, cmap=cm.coolwarm,
linewidth=0, antialiased=False)
# Add a color bar which maps values to colors.
fig.colorbar(surf, shrink=0.5, aspect=5)
ax.set_xlabel('lead [mm/rev]')
ax.set_ylabel('diameter [mm]')
ax.set_zlabel('maximum torque [kg.cm]')
plt.show()'''
plt.figure(1)
plt.plot(abs(motorTorque), abs(motorSpeed))
plt.plot(motorTorqueBarang, motorSpeedBarang)
plt.title('load trajectory')
plt.ylabel('angular velocity [RPM]')
plt.xlabel('torque [Nm]')
plt.grid(True)
plt.figure(2)
plt.plot(timeVel, np.multiply((motorTorque), (motorSpeed)))
plt.title('motor Power')
plt.ylabel('watt')
plt.xlabel('s')
plt.grid(True)
plt.show()
'''plt.figure(3)
plt.plot(timeForce, sliderForce)
plt.title('slider Force')
plt.ylabel('N')
plt.xlabel('s')
plt.grid(True)
plt.show()'''