Traction drive

Drive data
Symbol Value u.m.
Mass to be moved m 90160 kg
Load wheel diameter D 0.45 m
Specific tractio resistace 0.0!
"earbo# ratio i $%
Mech. &fficiec' ( 0.%5
Ma#. traversig speed 0.% m)s
Mi. traversig velocit' *crawl velocit'+ 0.05 m)s
Ma#. acceleratio 0.,
Ma#. deceleratio 0.,
-ated motor o.tp.t 90 k/
-ated motor c.rret 16, 0
-ated motor tor1.e %69 2m
-ated motor speed 990 -3M
Motor efficiec' 0.%9
Motor momet of iertia 4.0$
4o.plig momet of iertia 0.96
Ma#. distace moved 6 m
4'cle time ,% s
5rake applicatio time 0.1 s
Mechaical brake tor1.e 400 2m
3iio diameter 0.45 m
Constant velocity motion
Resistence force, load torque:
6191$.%! 2
1,9,0.4 2m
Motor output, motor torque
5%., k/
5%5.,1 2m
951.$ -3M
6s a tractio drive with piio7rack trasmissio with brake motor *slidi7rotor motor+.8he motor is
operated at a crawl speed for positioig./he the limit switch is reached9the motor is sh.tdow9 ad is
mechacicall' braked dow to stadstill .sig the itegral brake. Drive is doe b' a piio7rack
trasmisio.
w
:
v
ma#
v
mi
a
b ma# m)s
$
a
v ma# m)s
$
3

;
motor
M

(
motor
;
motor kgm
$
;
k kgm
$
s
ma#
t
c'cle
t
&
M
mech
D
0
:
w
M
load
3
motor
M
motor
Motor speed at v
max

motor ma#
Motor speed at v
min
59.4 -3M
Calculatin t!e motor torques "!en acceleratin and deceleratin
#nular acceleration and anular deceleration of t!e motor
,!.,
,!.,
#cceleratin torque and decelaratin torque for motor and couplin
1%5.9 2m
1%5.9 2m
$oad moment of inertia referred to t!e load "!eel
4564.4
#cceleratin torque and decelaratin torque for t!e load:
60%%.0 2m 60%5.%
60%%.0 2m
Motor torque "!en acceleratin
!9,.6 2m
Motor torque "!en decelaratin
5$.$ 2m
8he hight motor tor1.e is re1.ired whe accelaratig9 amel' 1$%.! < of motor rated tor1.e %!0 2m
#ccelartin time:
$.!
Calculatin t!e distance travelled after t!e bra%e motor !as been po"ered&do"n
Calculatin t!e deceleration after s!utdo"n 'rane ()
4$.6
and for t!e deceleration unit:
0.,4$,

motor mi
=
b motor s
7$
=v
motor s
7$
M
b motor>k
Mv
motor>k
;
load kgm
$
M
b load
Mv
load
M
motor
M
motor
t
b s
7$
/he the tractio .it reaches the limit switch at the crawl speed9 the brake motor is powered7dow
b' ihibitig the drive coverter p.lses. 8he brake applicatio dela' time t
&
ow stars before the
mechaical brake starts to become effective. 8he tractio .it coti.es to move witho.t a' motor
tor1.e ad is ol' braked b' the effect of drag ad the mechaical efficiec'. 0fter the brake is
applied9 it takes time t
v mech
to reach stadstill.
8o calc.late the distac travelled after the brake motor ha? bee sh.tdow9 a s.b7divisio is made
ito rage 1 *decekeratio d.e to drag ad the mechaical efficiec'+ ad rage $ *deceleratio as a
res.lt of the mechaical brake+
T!e follo"in is obtained "it! M
motor
*+
=
v1moto
r
s
7$
=
v1 m)s
$
Distance travelled durun t
,
0.00,$9 m
0.015% m)s
Calculatin t!e deceleration as result of t!e mec!anical bra%e 'rane -)
T!e follo"in is obtained "it! :
T!e motor anular deceleration is t!en iven by:
%$.9 $10.6
and for t!e traction unit deceleration:
0.6660
Deceleration time as t!e result of t!e mec!anical bra%e
0.0 s
Distance traveled durin deceleration caused by t!e mec!anical bra%e:
0.000$
0.00 m 40.0 mm
8his load distace m.st be take ito acco.t b' the positio.g cotrol
s
&
Velocity after t
,
v
ma# &
=
v$ motor s
7$
=
v$ m)s
$
t
v mech
s
v
0s the mechaical brake is ol' applied after a dela' time t
&
9 the tractio .it travels a total
distace of
s
ges
u.m.
kg
m
m)s
m)s
k/
0
2m
-3M
m
s
s
2m
m
6s a tractio drive with piio7rack trasmissio with brake motor *slidi7rotor motor+.8he motor is
operated at a crawl speed for positioig./he the limit switch is reached9the motor is sh.tdow9 ad is
mechacicall' braked dow to stadstill .sig the itegral brake. Drive is doe b' a piio7rack
m)s
$
m)s
$
kgm
$
kgm
$
8he hight motor tor1.e is re1.ired whe accelaratig9 amel' 1$%.! < of motor rated tor1.e %!0 2m
/he the tractio .it reaches the limit switch at the crawl speed9 the brake motor is powered7dow
ow stars before the
mechaical brake starts to become effective. 8he tractio .it coti.es to move witho.t a' motor
tor1.e ad is ol' braked b' the effect of drag ad the mechaical efficiec'. 0fter the brake is
8o calc.late the distac travelled after the brake motor ha? bee sh.tdow9 a s.b7divisio is made
ito rage 1 *decekeratio d.e to drag ad the mechaical efficiec'+ ad rage $ *deceleratio as a