Chapter 4 & 5 Tutorial

Tutorial 1
A drive has the following parameters: T =150 - 0.1N, where N is speed in RPM.
Load torque Tl = 100 N-m. Initially drive is operating at steady state. Then the
characteristics of load torque are changed to Tl = - 100 N-m. Calculate initial
and final equilibrium speeds.
Answer: 500 and 2500 RPM

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 In steady state motor developed torque = load torque.
Initial steady state speed is given by
T = Tl
150 – 0.1 N = 100
N = 500 RPM
Similarly final steady state speed is given by
150 – 0.1 N = - 100
N = 2500 RPM

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 Tutorial 2
A motor drives four loads, two have rotational motion and two translational
motion. Moment of inertia of the motor is 1.2 kg-m2. motor runs at a speed
of 1000 RPM. Details about loads are shown in the table. Calculate the
equivalent inertia of the system referred to the motor shaft and power rating
of the motor, assuming negligible losses in the transmission system.

Load Type of Motion Speed Inertia / Mass Torque / Force

I Rotational 200 RPM 7 kg-m2 10 N-m
II Rotational 200 RPM 5 kg-m2 6 N-m
III Translational 10 m/S 10 kg 20 N
IV Translational 10 m/S 20 kg 30 N

Answer: 1.954 kg-m2 and 835 Watt

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`
    
J= 1.2 + ( ) ∗ 7 + ∗ 5 + 10 ∗  + 20 ∗ 
∗∗ ∗∗

= 1.954  − 

200 200 10 10
= ∗ 10 + ∗ 6 + 20 ∗ + 30 ∗
1000 1000 1000 ∗ 2 ∗ /60 1000 ∗ 2 ∗ /60

= 7.9746  − 


= = 7.9746 ∗ 1000 ∗ 2 ∗ = 835 "#$$
60

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Tutorial 3
• In the mechanism shown in figure, motor drives the winch drum through a reduction gear with a
gear tooth ratio of 0.1. The friction torque at winch shaft is 15 N-m and at motor shaft is 10 N-m.
Motor speed is 1500 RPM. Calculate the equivalent moment of inertia of the drive referred to
motor shaft and motor torque if gear ratio have an efficiency of 90 %.

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0.2 ∗ 150 ∗ 2 ∗ 60
% = 0.5 + 0.15 + 0.1 ∗ 1 + 500  = 0.86  − 
1500 ∗ 2 ∗
60


15 ∗ 0.1 500 ∗ 9.81 0.2 ∗ 150 ∗ 2 ∗ 60 = 120.667  − 
 = 10 + + 
0.9 0.9 1500 ∗ 2 ∗
60

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Tutorial 4
• A drive has following parameters.
J = 10 kg-m2, T = 15 + 0.5 and Tl= 5 + 0.6
Calculate the (i) steady state speed in rad/Sec and (ii) Time to reach its 95 % of steady state speed

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 In steady state motor torque T = load torque Tl
Steady state speed can be found from
15 + 0.5 = 5 + 0.6
= 100 &#'/(
*+
Torque equation is given by  = ) + %
*,
From the above equation, time can be find as follows
./
'
$ = 10 ∗ - = 299.57 (01
15 + 0.5 − (5 + 0.6 )

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