Motion_Control_Basics.pdf

Motion Control Basics By John Mazurkiewicz Baldor Electric Here are easy to follow equations for determining drive mechanics friction and inertia for any electromechanical positioning application. Part 2 describes how to determine motor and control requirements. Part 1 – Drive mechanics The first step in determining the requirements of a motion control system is to analyze the mechanics including friction and inertia of the load to be positioned. Load friction can easily be determined either by estimating or by simply measuring with a torque wrench. Inertia the resistance of an object to accelerate or decelerate defines the torque required to accelerate a load from one speed to another, but it excludes frictional forces. Inertia is calculated by analyzing the mechanical linkage system that is to be moved. Such systems are categorized as one of four basic drive designs: direct, gear, tangential, or leadscrew. In the following analyses of mechanical linkage systems, the equations reflect the load parameters back to the motor shaft. A determination of what the motor “sees” is necessary for selecting both motor and control. Cylinder inertia The inertia of a cylinder can be calculated based on its weight and radius, or its density, radius, and length. WR2 (1) J Inertia for solid cylinder based on weight and radius. 2g LR4 (2) J Inertia for solid cylinder based on density, radius, and length. 2g W 2 2 (3) J (R0 Ri ) Inertia for hollow cylinder based on weight and radius. 2g L 4 4 (4) J (R0 Ri ) Inertia for hollow cylinder based on density, radius, and length. 2g With these equations,