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Bda 2033 Chapter 1-Gear System
Bda 2033 Chapter 1-Gear System
Bda 2033 Chapter 1-Gear System
e
e
q
Where
1
P = Input power from driver gear
2
P = Output power from driven gear
n = Gear ratio
If the 0 . 1 =
G
q , thus the torque at driver gear
1
T is;
2 1
nT T =
If the 0 . 1 =
G
q , thus the torque at driver gear
1
T is;
2 1 ,
2
1
=
G
nT
T
q
1.7 Power Transmission in a Gear Train System
In a gear train system, power loss normally happen in the bearing and gear due to friction
and loading imposed on it and also power loss in overcoming shaft inertia. Consider a gear train
consists of two sets of gear reducing arrangement. A motor is attached to the system with
m
I is
the moment of inertia of motor shaft,
T
I is moment of inertia of middle shaft and
G
I is the
moment of inertia of hoist which acts as the load of the system. Gear ratio and gear efficiency of
gear set 1-2 is
2 / 1
n and
2 / 1 G
q , between gear set 3-4 is
4 / 3
n and
4 / 3 G
q respectively. Let;
m
T = Torque of motor
G
T = Torque of hoist
X
T = Friction torque at bearing X
Draw the free body diagram and using Newton Second Law,
= o I T
Figure 11: Free body diagram
Assume clockwise direction as positive value.
For (A)
m m m
I T T o =
1
. (1)
For (B)
T T
I T T o =
3 2
.. (2)
Since there is gear mating between gear 1 and 2, thus, must include in the analysis its own gear
ratio and gear efficiency, and relate it to the inertia of middle shaft,
T
I .
Previously,
2 / 1
1
2
2 / 1
n
T
T
G
= q , thus it follows that
2 / 1
1 2 / 1
2
n
T
T
G
q
= .... (3)
For (C)
G G G X
I T T T o =
4
..... (4)
also
4 / 3
4 / 3 3
4
n
T
T
G
q
= ..(5)
Hoist
Using power, , e T P = power transfer to each gear component is;
a) Power transfer by the motor
m m m
T P e =
b) Power at gear 1
( )
m m m m m
I T T P e o e = =
1 1
c) Power at gear 2
2 / 1 1 2 G
P P q =
d) Power at gear 3
( )
T T T T
I T T P e o e = =
2 3 3
e) Power at gear 4
4 / 3 3 4 G
P P q =
f) Power at hoist
( )
G G G X G G G
I T T T P e o e = =
4
g) Overall power transfer efficiency,
O
q
m
G
O
P
P
= q
Thus if friction torque,
X
T effect is neglected,
This concludes that
4 / 3 2 / 1 G G
T
G
m
T
m
G
O
P
P
P
P
P
P
q q q =
|
|
.
|
\
|
|
|
.
|
\
|
= =
Also;
4 / 3 2 / 1
n n
T
T
m
G
O
= q
1.8 Equivalent Moment of Inertia,
equiv
I [ Moment of inertia, also called mass moment of
inertia or the angular mass, (SI units kg m
2
) is a measure of an object's resistance to changes in
its rotation rate]
Consider a simple gear system as Figure below. In order for the driver gear A to start
rotate, it must have enough torque to overcome its own inertia,
A
I first, and then another
additional torque to start accelerate the driven gear B. However, to relate torque with the gear
parameter, inertia term will be taken into account. For a simple gear system, the solution is
straightforward, but when it comes to complex gear train design, it is useful to simplify / group
together all inertia term in the system into a single compact inertia expression. The inertia term
of each moving gear parts will be referred to a single part in the system, normally at motor side.
Figure 12: Equivalent moment of inertia
1. Torque at B to overcome
B
I
B B B
I T o =
Refer
B
o to gear A side. Use gear ratio,
A
B
A
B
n
o
o
e
e
= =
Thus,
A B B
n I T o =
2. Gear efficiency is related to power and thus torque of the mating gears, thus
A
B
A
B
G
T
n T
P
P
= = q
3. Therefore, torque at A, to accelerate
B
I
( ) ( )
G
A B
G
A B
G
B B
G
B
A
n I n n I
n
I n T
T
q
o
q
o
q
o
q
2
= = = =
4. Therefore total torque at A to accelerate
A
I and
B
I is
A A A TOTAL
T I T + = o
A
G
B
A TOTAL
n I
I T o
q
(
+ =
2
, Or in general form,
A equiv TOTAL
I T o = (referred to motor side)
Thus
|
|
.
|
\
|
+ =
G
B
A equiv
n I
I I
q
2
The derivation of
equiv
I of this simple gear system can be extended to a double set of gear
reducing problem as in section 1.7. By neglecting the friction torque effect,
X
T , thus,
) )( (
) ( ) ( ) (
4 / 3 , 2 / 1 ,
2
4 / 3
2
2 / 1
2 / 1 ,
2
2 / 1
G G
G
G
T
m equiv
n n I n I
I I
q q q
+ + =
Driven gear Driver gear
I
B
I
A
1.9 Gear Train Applications (Solved Problem)
Example 1(Taken from Roslan, Che Abas, Yunus (2001), UTM)
A motor is accelerating a 250 kg load with acceleration of 1.2 m/s
2
through a gear system as
shown below. The rope that carries the load are encircled on a hoist with diameter 1.2m.Gear for
the hoists shaft has 200 teeth, gear for motor shaft has 20 teeth. Gear efficiency is 90%. Mass
and radius of gyration of each shaft is as below;
Mass (kg) Radius of gyration (mm)
Motor shaft 250 100
Hoist shaft 1100 500
Calculate the torque of the motor needed to bring up the load with acceleration 1.2 m/s
2
. Neglect
friction effect.
Figure 13: Gear system attached to hoist
Solution
Total torque at motor to bring up load
2 1 M M total
T T T + =
Where
1 M
T = Torque to overcome equivalent inertia (refer to motor side).
2 M
T =Torque to accelerate the load through gear system
a) Consider for
1 M
T
From
G
G
M equiv
n I
I I
q
2
+ =
Thus
M
I = Motor shaft inertia
( ) 5 . 2 1 . 0 250
2 2
= = = mk I
M
kgm
2
G
I = Hoist shaft inertia
( ) 275 5 . 0 1100
2
= =
G
I kgm
2
Dia = 1.2 m
Hoist
Gear ratio, 1 . 0
200
20
2
1
= = =
N
N
n
Put into
( )
55 . 5
9 . 0
1 . 0 275
5 . 2
2
=
(
+ =
equiv
I kgm
2
Acceleration of hoist,
G G G
r a o =
Thus 2
6 . 0
2 . 1
= =
G
o rad/s
2
From the gear ratio, angular acceleration of motor, 20
1 . 0
2
= = =
n
G
m
o
o rad/s
2
Now torque due to equivalent inertia,
m equiv M
I T o =
1
1 . 111 ) 20 ( 55 . 5
1
= =
M
T Nm.
b) Consider for
2 M
T
From Newton 2
nd
Law,
= ma F
( ) ( )
N F
a g F
a g F
5 . 2752
2 . 1 81 . 9 250 250
250 250
=
+ = + =
=
Then, torque at hoist
( ) 5 . 1651 6 . 0 5 . 2752 = = = Fr T
G
Nm
But due to gear efficiency (since the hoist shaft is connected to the gear system), torque to
accelerate the load,
( )
5 . 183
9 . 0
1 . 0 5 . 1651
2 / 1 ,
2 / 1
2
= = =
G
G
M
n T
T
q
Nm
Then total torque referred to motor side is;
5 . 183 1 . 111
2 1
+ =
+ =
total
M M total
T
T T T
6 . 294 =
total
T Nm
Figure 14: Free body diagram of hoist and load
250g
F a
T
G
250 kg
r
Hoist
Example 2(Taken from Roslan, Che Abas, Yunus, (2001), UTM)
Figure 12 below shows a motor used to accelerate a hoist through two sets of gear reducing
system. Moment of inertia for the motor shaft is 5 kgm
2
, middle shaft is 40 kgm
2
and hoist shaft
is 500 kgm
2.
Gear ratio for gear set 1 and 2 is 1/3.5 while for gear set 3 and 4 is 1/ 4.5. Gear
efficiency for both gear set is 90%. By neglecting the friction effect, find the total torque
required by the motor to accelerate the load of 6 tones at acceleration of 0.4 m/s
2
.
Figure 15: Loading system on gear
Solution
Given that
M
I =5 kgm
2
, 40 =
T
I kgm
2
,
G
I =500 kgm
2
,
5 . 3
1
2 / 1
= n ,
5 . 4
1
4 / 3
= n , 9 . 0 =
G
q
Neglect friction effect.
Total torque required for the motor is
2 1 M M total
T T T + =
Where
1 M
T = Torque to overcome equivalent inertia (refer to motor side).
2 M
T =Torque to accelerate the load through gear system
a) Consider for
1 M
T
Recall that
m equiv M
I T o =
1
, but for two set of gear system with friction effect is neglected,
) )( (
) ( ) ( ) (
4 / 3 , 2 / 1 ,
2
4 / 3
2
2 / 1
2 / 1 ,
2
2 / 1
G G
G
G
T
m equiv
n n I n I
I I
q q q
+ + =
Nm I
equiv
116 . 11
) 9 . 0 )( 9 . 0 (
)
5 . 4
1
( )
5 . 3
1
( 500
9 . 0
)
5 . 3
1
( 40
5
2 2 2
= + + =
Diameter = 1.2 m
m
Hoist
From question, given that, 4 . 0 =
G
a m/s
2
, thus;
6 . 0
4 . 0
= =
G
G
G
r
a
o
6667 . 0 =
G
o rad/s
2
From gear ratio,
75 . 15
1
5 . 3
1
5 . 4
1
= = =
m
T
T
G
m
G
o
o
o
o
o
o
Thus,
G m
o o 75 . 15 =
( ) 5 . 10 6667 . 0 75 . 15 = =
m
o rad/s
2
Thus, ( ) 5 . 10 116 . 11
1
= =
m equiv m
I T o
72 . 116
1
=
M
T Nm.
It is known that
G
T referred to motor side will be denoted as
2 M
T and is related by
4 / 3 , 2 / 1 ,
4 / 3 2 / 1
2
G G
G
M
n n T
T
q q
=
( )( )
( )
6 . 889
9 . 0 9 . 0
5 . 4
1
5 . 3
1
349 . 11
2
= =
M
T Nm
Thus total torque at motor required is
2 1 M M total
T T T + =
6 . 889 72 . 116 + =
total
T
32 . 1006 =
total
T Nm.
4500g
F
1
a
4500 kg
Hoist
6000g
6000 kg
F
2
a
Figure 16: Loading FBD
b) Consider for
2 M
T in Figure 13;
From Newton 2
nd
Law, ma F =
a F g 4500 4500
1
=
( ) ( ) 42345 41 . 9 4500 4500
1
= = = a g F N
a g F 6000 6000
2
=
( ) 61260 6000
2
= + = g a F N
Resultant torque at hoist
915 . 18
1 2
= = F F F
R
kN
Thus torque at hoist
( ) 349 . 11 6 . 0 915 . 18 = = =
G R G
r F T kN
Example 3(Taken from Roslan, Che Abas, Yunus, (2001), UTM)
Figure 17: Gear with inclined loading
Figure 14 above shows a motor accelerating a hoist with diameter 0.9m, through two sets
of gear reducing system. Gear ratio for gear 1 and 2 is 1/3.5 while for gear 3 and 4 is 1/ 4.5.
Moment of inertia for the motor shaft is 5 kgm
2
, middle shaft is 20 kgm
2
and hoist shaft is 100
kgm
2
. The rope that is encircled on the hoist must be capable to lift up a load of 5 tones that is
sliding on a 1 in 50 slope. Friction on the slope is 1000N and the total torque at motor required to
raise the load is 1500N. Use gear efficiency of 90% for both gear set. If there is friction torque
effect on the middle shaft, 150 =
X
T Nm and at hoist shaft is 800 =
y
T Nm. Calculate the
acceleration of the load at the above condition.
Solution
For the overall gear ratio,
75 . 15
1
5 . 4
1
5 . 3
1
4 / 3 2 / 1 0
= = = n n n
Total torque required by motor to raise load
3 2 1 M M M total
T T T T + + =
Where
1 M
T = Torque to overcome equivalent inertia (refer to motor side).
2 M
T =Torque to accelerate the load through gear system
=
3 M
T Total torque to overcome friction effect.
a) Consider for
1 M
T
Previously,
m equiv M
I T o =
1
For double set of gear reducing system,
) )( (
) ( ) ( ) (
4 / 3 , 2 / 1 ,
2
4 / 3
2
2 / 1
2 / 1 ,
2
2 / 1
G G
G
G
T
m equiv
n n I n I
I I
q q q
+ + =
312 . 7
) 9 . 0 )( 9 . 0 (
)
5 . 4
1
( )
5 . 3
1
( 100
9 . 0
)
5 . 3
1
( 20
5
2 2 2
= + + =
equiv
I kgm
2
Dia = 0.9 m
Hoist
From
G G
r a o = , thus,
45 . 0
a
r
a
G
G
= = o
Also from gear ratio,
75 . 15
1
=
m
G
o
o
, thus, a
a
G m
35
45 . 0
75 . 15 75 . 15 = |
.
|
\
|
= = o o
Thus ( ) a T
M
35 312 . 7
1
= a 92 . 255 = Nm
b) Consider for
2 M
T as in Figure 15;
c) Consider for
3 M
T
Friction effect can be grouped together to form
3 M
T where;
4 / 3 , 2 / 1 ,
4 / 3 2 / 1
2 / 1 ,
2 / 1
3
G G
Y
G
X
M
n n T n T
T
q q q
+ =
33 . 110
9 . 0
5 . 4
1
5 . 3
1
800
9 . 0
5 . 3
1
150
2
3
=
|
.
|
\
|
|
.
|
\
|
+
|
.
|
\
|
=
M
T Nm
From
3 2 1 M M M total
T T T T + + =
( ) ( ) 33 . 110 876 . 69 4 . 176 92 . 255 1500 + + + = a a
Thus 1 . 3 = a m/s
2
R
F
5000g
1
F
Mg sin
r
F
1
hoist
Figure 18: inclined loading
From
= , ma F
ma mg F F
R
= u sin
1
( )( )
50
1
81 . 9 5000 1000 5000
1
+ + = a F
( ) 1981 5000
1
+ = a F N
Thus, torque to accelerate hoist
( )( ) 45 . 0 1981 5000
1
+ = = a r F T
G
45 . 891 2250 + = a T
G
Nm
Use gear efficiency to relate
G
T with
2 M
T
4 / 3 , 2 / 1 ,
4 / 3 2 / 1
2
G G
G
M
n n T
T
q q
=
( ) 876 . 69 4 . 176
2
+ = a T
M
Nm
1.10 Vehicle Dynamics
Figure 19: Vehicle dynamics
For a moving vehicle as in Figure 19, some of the forces acting on it are;
- Friction due to the vehicles body (aerodynamic friction), R
- Forces due to friction from the engine to the wheel such as friction in bearing, shaft,
clutch and gears,
INT
R .
- Forces due the acceleration of the vehicle, which is called tractive force,
T
F considering
no slip between the wheel and the road surface.
We can estimate the speed of the moving vehicle by considering the speed of the wheel itself.
Vehicle speed, |
.
|
\
|
=
2
D
w v
r
Example 1 (Solved Problem)
Total mass for a two wheeled motorcycle including passenger is 190 kg. The engine produce
torque of 25 Nm at speed of 1800 RPM. Moment of inertia for each wheel is 1.4 kgm
2
while for
other rotating parts in the engine is considered as 0.15 kgm
2
. The wheels effective diameter is
610 mm. If the motorcycle is moving on a road with a speed 23 km/hr at second gear, find
(i) Gear ratio for the second gear
(ii) Acceleration at speed 23 km/hr
Assume wind friction is 200 N and gear efficiency is 90%.
Solution
Given that;
m =190 kg,
total
T =25 Nm at N =1800 PM,
R
I =1.4 kgm
2
,
int
I =0.15 kgm
2
, D=610 mm,
If v =23 km/hr at 2
nd
gear, with R =200 N,
G
q =90%.
D/2
w
r
F
T
R
v
Wheel
Surface
1
st
Step Draw Free Body Diagram
Figure 20: Free body diagram
2
nd
Step
Total torque at engine,
total
T
2 1 M M total
T T T + =
Where
1 M
T = Torque due to equivalent inertia of rotating parts in the engine.(referred to engine
side).
2 M
T = Torque to accelerate the wheel.
3
rd
Step
Convert all measurement to SI standard.
Engine speed,
( )
5 . 188
60
1800 2
60
2
int
= = =
t tN
w rad/s
Wheel speed,
( )
3889 . 6
3600
1000 23
/ 23 = = = hr km v m/s
4
th
Step Determine
1 M
T
In order to find gear ratio for second gear,
( )
9
1
5 . 188
305 . 0
3889 . 6
int
= = =
w
w
n
R
(Where
( ) 2 D
v
w
R
= )
Thus gear ratio for second gear is ( )
9
1
= n
Equivalent moment of inertia is
G
R
equiv
n I
I I
q
2
int
+ =
( )( )
1884 . 0
9 . 0
9
1
4 . 1 2
15 . 0
2
=
+ =
equiv
I kgm
2
In order to find
int
o , use
R
o and gear ratio
Engine
Gear system
Wheel
I
int
I
R
( ) 2 D
a
R
= o
( )
( )
a
a
n
R
508 . 29
9
1
305 . 0
int
= = =
o
o rad/s
2
Thus, ( ) a I T
equiv M
508 . 29 1884 . 0
int 1
= = o
a T
M
559 . 5
1
= Nm.
5
th
Step Determine
2 M
T as in Figure 18;
Figure 21: dynamic force on the motorcycle
From
= , ma F
ma R F
T
+ =
a F
T
190 200 + =
Total torque at wheel,
( ) 305 . 0 190 200 a r F T
T R
+ = =
a T
R
95 . 57 61 + =
Refer
R
T to motor side using gear efficiency
( )( )
9 . 0
9
1
95 . 57 61
2
a
n T
T
G
R
M
+
= =
q
) 154 . 7 35 . 7 (
2
a T
M
+ = Nm
Thus, total torque at engine
( ) ( ) a a T
total
154 . 7 35 . 7 559 . 5 + + =
The acceleration at that speed is;
By solving the equation for the total torque above, thus
374 . 1 = a m/s
2
m=190 kg
F
T
R
a
PROBLEMS-GEAR SYSTEM
1. The axes of two parallel shafts are to be 600mm apart approximately, and have to be
connected by spur gear, having a circular pitch of 30 mm. If gear A rotate at 200 rpm and
gear B rotate at 600 rpm, find the number of teeth on each gear.
2. Figure below showed a motor used to accelerate a hoist through a set of gear system.
Gear for the hoists shaft has 200 teeth and gear for motor shaft has 20 teeth. Gear
efficiency is 90 %. Moment of inertia for the motor shaft is 2.5 kgm and hoist shaft is
275 kgm. The rope that carries a 250 kg load are encircle on hoist with diameter 1.2 m.
By neglecting the friction, find
a) gear ratio,
b) equivalent moment inertia for a gear system,
c) the total torque required by the motor to accelerate the load at acceleration of 1.0
m/s.
Motor
Rope
Set of gear
Load
Hoist
600 mm
3 The diagram above shows a gear train composed of three gears. Gear A revolves at 60
revs/min in a clockwise direction.
GEAR A GEAR B GEAR C
20 TEETH 60 TEETH 10 TEETH
a) What is the output in revolutions per minute at Gear C?
b) In what direction does Gear C revolve ?
[ 120 rpm, clockwise ]