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MET 214 - Lecture 27
MET 214 - Lecture 27
SYSTEMS
The total amount of mass being transported by the conveyor system involves the
mass of the individual packages in addition to the mass of the belt.
mT = m1 +m2 + m3 + m4 + m belt
Using Newtons 2nd law we can relate mT to the force necessary to accelerate m T.
F=mT a where
F =Force applied to conveyor belt in order to accelerate
and packages on belt
a = acceleration of conveyor belt
belt
The force F necessary to accelerate m T can be related to torque about the drive shaft
as follows
TJ
T mT r121
Tm J
J mT mT r12
2
r1 by
The total mass mT multiply
establishes an equivalent mass moment of
inertia which is to be included in the analysis of the drive requirements for a
conveyor system.
Prior to identifying how all of the torque requirement of a conveyor system are
reflected to the shaft of the motor, let us consider how friction effects due to
linear motion of the belt impact the torque requirements for a conveyor system.
To relate how friction accompanying linear motion of the belt impacts the torque
requirements of a conveyor system, consider the conveyor system illustrated
below.
Belt motion creates a friction force between the conveyor belt and the support
platform which supports the conveyor belt. The magnitude of the friction force
is related to the normal force and the coefficient of friction existing between
the belt and the platform. The relationship is presented below.
where Ff =
Force due to friction between conveyor belt and support platform
F f uN
u = coefficient of friction between belt and platform
N = Normal force acting to press belt against support platform
To relate the friction force Ff to a torque requirement for the motor of the
conveyor system, note that Ff can be related to a torque acting about shaft #1.
T f r1 F f r1uN r1umT g
After accounting for rotational acceleration effects, the total torque required
from a motor for a conveyor system can be determined.
To identify the torque required for a motor, all motion effects relating to torque
must be transformed to the motor shaft.
To systematically transform all motion effects relating to torque to motor shaft,
proceed as follows:
r
J 2 R1 J m 2 1
r2
2
r1
r1 r2 1
r2
J 2 R1 J m 2
B) Jm1 = mass moment of inertia of about shaft #1: includes mass moment of
inertia of shaft #1, and pulley #1, and any component rotating about shaft #1.
C)
J mT1 J m1 J 2 R1 J m1 J m 2
2) Determine resisting torques accompanying rotation of rotating components
and reflect back to drive shaft of conveyor system using scaling factors
consisted with torques.
T2 2 n2
T2 R1 T2
n2
n
D
2 n2 2 2 n2 1 2 n2
n1
n1
D2
T2 R1 T2 2 n2 2 n1
B) Assume rotation of shaft #1 is accompanied by a viscous damping torque due to
bearing behavior that depends on speed of conveyor.
T1 1n1
C) Combine the torque loads acting on shaft #1 with all torque loads reflected to shaft #1
TT1 T1 T2 R1
TT1 1n1 2 n1
TT1 n1 1 2
D) Alternatively, the torque loading on shaft #1 and/or shaft #2 could be independent of
speed, and modeled simply as a drag torque.
where
torque existing
on shaft #1
T1 Td=drag
Td 1
1
=drag torque existing on shaft
#2
T
T2 Td 2
d2
E) Reflecting T2 to shaft #1 and combining the two torques results in the following
expression:
TT 1d Td 1 Td 2
F) Combination of torque types may exist depending on circumstances
3) Transform all masses experiencing linear motion to equivalent mass moment of
inertias and reflect equivalent mass moment of inertias to drive shaft of conveyor
system:
Utilizing relationships presented earlier:
J eq1 mT r12
mT m1 m2 m3 m4 mbelt
T f r1 F f r1umT g
5) Combine the torques associated with steps 1-4
TS 1 J mT 1 J eq1 1 TT1 T f
TS 1 J m1 J m 2 mT r12 1 Td 1 Td 2 r1umT g
or if viscous dragging effects
Note:
Tm nm where
T1n1
Torque Tsupplied
by motor
m
n1 Pitch diameter
Tm T1
Dm of sprocket attached to motor
nm
n
D
nm Dm n1 D1 1 m
nm D1
Accordingly:
Tm TS 1
Dm
D1
Applying the scalar factor above to the equations for T 1 results in the following
torque requirements for the motor
TM J m1 J m 2 mT r12
Dm
D
D
1 Td 1 Td 2 m r1umT g m
D1
D1
D1
TM J m1 J m 2 mT r12
Dm
D
D
1 1 2 n1 m r1umT g m
D1
D1
D1
Substituting
1 m
Dm
D1
n1 nm
Dm
D1
D
D
D
TM J m1 J m 2 mT r12 m m Td 1 Td 2 m umT g m
D1
2
D1
TM J m1 J m 2
Dm
mT r12
D1
TM AS 2 BS C
Dm
m 1 2
D1
nm umT g
Dm
2
Note:
J eqs
D
2
m
J m1 J m 2 mT r1
D1
If m = 0 then
Dm
D
D
D
umT g m Td 1 Td 2 m umT g m
2
D1
2
D1
Tm Td 1 Td 2
D
D
Tm 1 2 m nm umT g m
2
D1