maxon motor

Motor Equations and their Application k⋅U U

MiH = = ⋅ kM (13) the generated stall torque
√R
 R
1. The Generated Torque Mi
parameter used in this presentation are the voltage U and the rotor tempera-
Mi = kM ⋅ I (1) ture
neglecting the insignificant coil reaction, the torque Mi is directly proportional ω
to the coil current I. This factor is called the torque constant kM. δ
ω

2. The Electrical Input P1

P1 = U ⋅ I (2)
is the product of terminal voltage U and armature
current I.

9. The Graphic Presentation n = n ( Mi ) and

I = I (Mi)
due to (5) we can show the speed instead of the angular speed as a function
of the generated torque.

30  U Mi 
n= − 2 (14)
π  k √
R k 
30 U
3. The Mechanical Output P2 ni = ⋅ (15)
π kM
Pi = Mi ⋅ ω (3)
the generated mechanical power is the product of the generated torque Mi δ
and the angular speed ω
M = M i - MR (4)
the available torque on the shaft M is the difference between the gener-
ated torque Mi and the friction torque MR
π
ω= ⋅n (5)
30
the conversion of the speed n [rpm] to angular speed ω is reached 10. The Motor Efficiency
π
through the factor P2
30 η= (16) with equations (6), (8), (3), (7)
P1
P2 = M ⋅ ω (6) M⋅ω
4. Power Loss in Joule PJ η=
( M + MR ) ω + I2 R
PJ = I2 ⋅ Rδ (7)
whereby it can be determined how dependent the efficiency η is on the friction
for an exact calculation, the terminal restistance R must be corrected to take torque MR and the Joule loss.
into account heating due to Joule loss and friction loss. For this purpose it is
permissible to assume a rotor temperature of 25°C. 11. The Maximum Efficiency ηmax.
P2 M ⋅ ω
5. The Power Balance η= =
P1 U ⋅ I
P1 = Pi + PJ (8)
U
the generated mechanical power P i and the power loss in Joules PJ together {IA = −>~~U ~=~I sub A~fat cdot~R}
equal the electrical input P1. R
P1 = U ⋅ I = IA ⋅ R ⋅ I
6. The Motor Constant k Mi = kM ⋅ I
kM M = Mi − MR = kM ( I − I0 )
k= (9)
R
√
U ⋅ I − I2 R IA ⋅ R ⋅ I − I2 R R
to show the dependence of the angular speed ω on the torque Mi it is ω= = = ( IA − I ) (17)
Mi kM ⋅ I kM
appropriate to choose a motor constant k, as shown in equation (9).
( I − I0 ) ( IA − I )
η= (18)
7. The Dependence of the Angular Speed ω on the IA ⋅ I
Torque Mi the maximum value of the function η = η (l) is obtained by setting the
from P1 = Pi + PJ and (2), (3), (7) we get derivative to zero
U ⋅ I − I2 ⋅ R
ω= (10) dη
Mi =0 therefore
dl
with (1) and (9) we get 2 2
   


√ √

U Mi
ω= − 2  = 1 −
ηmax = 1 − 
(11) I0 MR
k √R k  IA   MiH 
(19)
this equation gives a straight line through thecoordinateω and Mi
The frictional torque is assumed to be independent of motor speed for
8. The Graphic Construction ω = ω ( Mi ) and reasons of simplicity.
I = I (M)
12. The Starting Process at Constant Terminal
for Mi = 0 Voltage
U U
ωi= = (12) the ideal angular speed ω as a result of the general equation of motion of a rotating mass with the
k √R kM moment of inertia J we can write
for ω = 0 Mb = J ⋅
dω
(20)
dt
Mb = Mi − MR − M J = JR + JL

210