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Manual de Calculo NORD
Manual de Calculo NORD
Manual de Calculo NORD
Physical Formulae
Distance s = v t Angular = t
s
Velocity (speed) v = Angular velocity = = 2 n
t
v W
Accelleration a = Angular accelleration =
t t
Force F = m a Torque M = J r = F r
Power P = F v Power P = M
Work W = F s = P t Work W = M = P t
1 1
Kinetic energy Wkin = m v2 Rotating energy Wrot = J 2
2 2
s. diagramme 1, 2.
Windload F = A PW
v
Moment of inertia with refernce Jred = 91,2 m 2 Translation
nM
n 2
to the motor shaft or Jred = J Rotation
nM
v 60
Speed n =
D
P 9550
Torque M =
n
F v
Friction power PR = Translation
1000
M n
or PR = Rotation
9550
m a v
Acceleration power PB = Translation
1000
J n2
or PB = Rotation
91,2 1000 tB
2
NORD - Information
a Acceleration m/s2
aB Acceleration (start up) m/s2
av Deceleration (braking) m/s2
A Area (wind) m2
i Reduction -
iV Additional reduction (gear, chain, belt ...) -
m Weight (mass) kg
maf Inertia mass acceleration factor -
mG Mass of counter weight kg
mL Mass with full load kg
mO Mass without load kg
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NORD - Information
M Torque Nm
MB Braking torque Nm
MH Run up torque Nm
ML Torque with full load (with reference to the motor shaft) Nm
MN Rated torque Nm
M1 Input torque Nm
M2 Output torque Nm
M2max Maximum permissible output torqe Nm
1
n Speed /min
1
nM Motor speed /min
1
nN Rated speed /min
1
n1 Input speed /min
1
n2 Output speed /min
r Radius m
s Distance m
sB Start up distance m
sV Braking distance m
t Time s
tB Start up time s
tV Braking time s
W Work J
We Standard rolling friction N/t
Wkin Kinetic energy J
Wrot Rotating energy J
Wzul Braking work until readjustment J
WB Braking work J
x Number of drives -
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f
steel / steel 0,0005 m
wood / steel 0,0012 m
polymer / steel 0,002 m
hardrubber / steel 0,0077 m
hardrubber / concrete 0,01 - 0,02 m
rubber / concrete 0,015 - 0,035 m
chain 0,90 - 0,96 per complete wrap of the rope around the drum
wire ropes 0,90 - 0,95 per complete wrap
flat polymer belts 0,93 - 0,98 per complete wrap of the rope depending on the material
V-belts 0,85 - 0,95 per complete wrap
rubber belts 0,80 - 0,85 per complete wrap
polymer belts 0,80 - 0,85 per complete wrap
helical inline gear 0,95 - 0,98 oil lubricated depending on the number of the stages
worm gear 0,30 - 0,93 oil lubricated depending on the number of starts of the worm
table 5: efficiency
fZ
helical gears 1,1 z = 17 teeth
chain sprockets 1,4 z = 13 teeth
chain sprockets 1,2 z = 20 teeth
pulleys 1,7 by tensioning influence
pulleys 2,5 by tensioning influence
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Load mL 15000 kg
Number of drives x 2
Mounting position B3
Efficiency 0,85
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Motor arrangements
We m v
P =
1000
Motor data
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NORD - Information
Gear arrangment
Wheel speed nL
v 60
nL =
D
0,66 ms 60
nL = = 32 1min
0,4 m
n2 = nL iv
0,0810 kgm2
maf = = 4,7
0,0060 kgm2 + 0,0113 kgm2 + 0,0001 kgm2
Starting freqeuency per hour: 180 (60 times acceleration, switching, deceleration)
Type of load C, fB = 1,6
Output torque Ma
PN 9550
Ma = fB
n2
2,2 kW 9550
Ma = 1,6 = 247 Nm
136 1min
For service factor fB = 1,6 the output torque of the gear is 247 Nm.
Reduction i
nN
i =
n2
2740 1min
i = = 20
136 1min
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NORD - Information
Load mL 15000 kg
Number of drives x 1
Additional reduction iv 4
Mounting position B5
Efficiency n 0,85
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NORD - Information
Drive resistance:
2 d
FR = m g ( L + f ) + c
D 2
m 2 0,06
Fro = 1800 kg 9,81 (0,005 + 0,0005 m ) + 0,003m
s2 0,3 m 2
m 2 0,06
FRL = 16800 kg 9,81 (0,005 m + 0,0005 m ) + 0,003 m
s2 0,3 m 2
FV
P =
1000
129,5 N 0,33 m
Po = = 0,05 kW
1000 0,85 s
1208,6 N 0,33
PL = = 0,47 kW
1000 0,85
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NORD - Information
Motor arrangement
Motor data
Load torque M
P 9550
M =
x nN
0,05 KW 9550
MO = = 0,2 Nm (without load)
2740 1min
0,47 kW 9550
ML = = 1,6 Nm (with load)
2740 1min
Acceleration aB
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NORD - Information
Decceleration aV
9,55 v (MB + ML 2)
av =
(Jred + JM + JBre + JZ) nN
1 ML MH
zzul = z0
1 + (Jred + JZ + JBre) JM
1 1,6 Nm 8,6 Nm
zzul = 1500 sh = 142 sh
1 +(0,0222 kgm + 0,0113 kgm2 + 0,0001 kgm2) 0,0045 kgm2
2
The perm. switching frequency is calculated for the acceptance: starting 2-pole with load (every time) is not correct
because of delay for switching and running on the 8-pole.
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NORD - Information
Gear arrangements
Wheel speedl nL
v 60
nL =
D
0,33 ms 60
nL = = 21 1min
0,3 m
n2 = nL iv
n2 = 21 1min 4 = 84 1min
Jred
maf =
JM + Jz + JBre
0,022 kgm2
maf = = 1,4
0,0045 kgm2 + 0,0113 kgm2 + 0,0001 kgm2
Output torque Ma
PN 9550
Ma = fB
n2
1,6 kW 9550
Ma = 1,3 = 236 Nm
84 1min
For service factor fB = 1,3 the output torque of the gear is 236 Nm.
Reduction i
nN
i =
n2
2740 1min
i = = 33
84 1min
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NORD - Information
PN = 0,4 / 0,16 kW
i = 34,69
n2 = 19/79 1/min
Mounting position B 5
Shaft 30 x 60 mm
Flange 160 mm oder 200 mm
Brake 10 Nm adjusted on 6 Nm
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Load m L 200 kg
Efficiency 0,8
Positioning accuracy 1 mm
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Motor arrangement
Power P
m g v
P =
1000
m 2
(50 kg + 200 kg) 9,81 s 0,24 m
s
PL = = 0,74 kW
1000 0,8
Motor data
Load torque M
P 9550
M =
nN
0,74 kW 9550
ML = = 2,5 Nm
2830 1 min
Switching torque MU
MU = 2 * MH4
MU = 2 * 7,4 Nm = 14,8 Nm
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NORD - Information
Permissibleswitchingfrequencyzzul
1 ML MH zO
up motion: zzul =
1 + (Jred + JBre) JM 2
1 ML MU zO
down motion: zzul =
1 + (Jred + JBre) JM 2
The mechanicalbraking depends on the positioning speed.The max.braking distance depends on down motion.
Deceleration av
In case of calculation the deceleration time we have to use the increased speed for the down motion.
The cause is the delay for switching and the over-synchronous speed.
Load speed nL
2,5 Nm 0,8 2
nL = 1500 1min + (1500 1min 1400 1min) = 1539 1min
4,1 Nm
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NORD - Information
9,55 ML t2
n = +: down motion, -: up motion
Jred + JM + JBre
9,55 ML 2 t2
down motion: n =
Jred + JM + JBre
v (nL + n) nN2
tv =
a
2
nL + n
v
sv = nN2
2 a
2
1539 1min + 124 1min
0,24 ms
2830 1min
sv = 2
= 0,004 m
2 2,80 ms
Positioning accuracy
Braking work WB
Because of the same number of up- and down-motion the load torque = 0 Nm.
Wzul
LN =
WB z
7 107J
LN = = 9720 h
20 J 360 1h
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Gear arrangements
v 60
n2 =
Dm
0,24 ms 60
n2 = = 22 1min
0,208 m
^
Jred
maf =
JM + JBre
0,00016 kgm2
maf = = 0,09
0,00165 kgm 2 + 0,00007 kgm2
Output torque Ma
PN 9550
Ma = fB
n2
0,75 kW 9550
Ma = 1,2 = 391 Nm
22 1min
Reduction i
nN
i =
n2
2830 1min
i = = 129
22 1min
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NORD - Information
Determine the size of a cd-geared motor for a tuntable with 3 work stations ( = 120)
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D 2m
s = = = 2,094 m
3 3
t B = t V = 1 s (acceptance data )
Tablespeed nT
s ges 60 2,094 m 60
nT = = = 4 1 min
D ( t ( tB + tV ) 2 ) 2m (6s (1s +1s ) 2)
d nT 2 m 4 1min
v = = = 0,42 ms
60 60
Momentofinertia J
1 1 1 1
J = m O D2 + m L d 2 = 500 kg (2 m)2 + 2250 kg (2 m)2 = 2500 kgm 2
8 4 8 4
Power P
P = PR + PB (friction + acceleration)
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NORD - Information
Motor data
LoadtorqueML
nT 4 1min 2
Jred = J 2 = 2500 kgm2 = 0,00507 kgm
2
2810 min
n 1
N
Permissibleswitchingfrequence zzul
1 ML MH 1 0,2 Nm 5,7 Nm
zzul = zO = 1500 sh = 453 sh
1 + (Jred + JBre) JM 1 + (0,00507 kgm2 + 0,00007 kgm2) 0,00235 kgm2
Acceleration aB
v 0,42 ms
tB = = = 0,47 s
aB 0,90 ms2
v2 0,42 ms2
sB = = = 0,098 m
2 aB 2 0,90 ms2
Change-overtorque MU
At the change over the speed increased and the motor is decelet ad generator-style.
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NORD - Information
Change-over delay aU
Change-over time tU
Change-overdistance sU
Deceleration a V
9,55 v nN8 nN2 (MB + ML 2) 9,55 0,42 ms 700 1min 2810 1min (8,0 Nm + 0,2 Nm 0,82)
aV = = = 1,80 ms2
(Jred + JM + JBre) nN8 (0,00507 kgm 2 0,8 + 0,00235 kgm2 + 0,00007 kgm 2) 700 1min
Decelerationtime tV
Deceleration distance sV
Timetwithvelocity v
s 1,965 m
t = = = 4,68 s
v 0,42 ms
The required cylce time of 6s is not reached. There is a possibility of driving for a longer period in creep speed.
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Positioning
accuracy
Gear arrangements
Switching per hour: 1080 (each 360 accelerations, change-over and decelerations)
kind of load B, fB = 1,5
Outputtorque Ma
Reduction i
nN 2810 1min
i = = = 187
n2 15 1min
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