{ "cells": [ { "cell_type": "markdown", "id": "19195033", "metadata": {}, "source": [ " # Homework: mission profile analysis \n", " \n", "The objective of this homework is to analyze a mission profile allowing the selection of a motor/reducer assembly. The steps to follow are as follows:\n", "- generation of a kinematic mission profile (position, speed, acceleration, etc.) meeting application constraints\n", "- calculation of dynamic efforts corresponding to this kinematic profile using a load model\n", "- calculation of equivalent quantities enabling the selection of components" ] }, { "cell_type": "markdown", "id": "65c047fc", "metadata": {}, "source": [ "The case study in this notebook is the motorisation of an electric cable lift. \n", "\n", "![Cable Car](./assets/images/CableCar.png)" ] }, { "attachments": {}, "cell_type": "markdown", "id": "9cc0b49e", "metadata": {}, "source": [ "### Position and speed mission profile\n", "\n", "A mission profile meeting the following criteria has been constructed. It will be assumed that it represents typical movements of the lift car, continuously repeated 8 hours a day for 10 years (i.e. a service life of 30,000 hours).\n", "\n", "| Dynamic criteria | |\n", "|--- |:-: |\n", "| Max. Acceleration | $1 m/s^2$ | \n", "| Max. Speed | $2 m/s$ | \n", "| Max. Load | $2.5 m/s^3$ | \n" ] }, { "cell_type": "markdown", "id": "a0174215", "metadata": {}, "source": [ "This profile, saved in an Excel file, is read in the form of a [dataframe](https://pandas.pydata.org/docs/reference/api/pandas.DataFrame.html) (from the [pandas](https://pandas.pydata.org/) package). " ] }, { "cell_type": "code", "execution_count": 167, "id": "5e431681", "metadata": {}, "outputs": [ { "data": { "text/html": [ "
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" ], "text/plain": [ " Time Position Speed Acceleration Jerk\n", "0 0.0 0.000000 0.0000 0.00 2.5\n", "1 0.1 0.000475 0.0125 0.25 2.5\n", "2 0.2 0.003504 0.0500 0.50 2.5\n", "3 0.3 0.011472 0.1125 0.75 2.5\n", "4 0.4 0.026889 0.2000 1.00 2.5" ] }, "execution_count": 167, "metadata": {}, "output_type": "execute_result" } ], "source": [ "import pandas as pd\n", "\n", "df = pd.read_excel('ElevatorMission.xlsx')\n", "\n", "df.head()" ] }, { "cell_type": "code", "execution_count": 168, "id": "ebb55029", "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import matplotlib.pyplot as plt\n", "from scipy.integrate import cumtrapz\n", "import numpy as np\n", "\n", "t, X, Xp, Xpp = np.array(df.Time), np.array(df.Position), np.array(df.Speed),np.array(df.Acceleration)\n", "\n", "plt.figure(1)\n", "plt.subplot(211)\n", "plt.plot(t, X, label='Position (m)')\n", "plt.legend()\n", "plt.grid()\n", "plt.subplot(212)\n", "plt.plot(t, Xp, label='Speed (m/s)')\n", "plt.plot(t, Xpp, label='Acceleration (m/s²)')\n", "plt.legend()\n", "plt.xlabel('Time (s)')\n", "plt.grid()" ] }, { "cell_type": "markdown", "id": "6c56c5b5", "metadata": {}, "source": [ "### Torque mission profile\n", "\n", "We will assume here that we are studying a lift equivalent to the following mechanical load:\n", "- a cabin/car of variable mass according to the load: 400 kg empty, 800 kg fully loaded;\n", "- a 600 kg counterweight;\n", "- a pulley with a diameter of 70 cm, an inertia of 10 kg.m².\n", "\n", "The motorization will be assumed to consist of a reduction assembly with an epicycloidal gear train, permanent magnet motor, inverter, rectifier and braking resistor. \n", "![Motor reducer set](./assets/images/MotorReducerSet.png)\n" ] }, { "cell_type": "markdown", "id": "93d654ad", "metadata": {}, "source": [ "> **Question 1:** calculate and display the torque given by the reducer and the rotation speed at the pulley. \n", "> **Question 2:** calculate the maximum torque, the RMC (Root Mean Cube) torque and the mean speed representative of the mechanical fatigue of the gearbox (bearings). What is the most critical cabin mass ?\n", "\n", "**Reminder:** \n", "- Mean speed: $\\omega_{mean} = \\int_0^t |\\omega| dt$ \n", "- Root Mean Cube Torque : $T_{RMC} = \\sqrt[3]{ \\frac{\\int_0^t |T^3\\omega| dt}{\\omega_{mean}t}} $ " ] }, { "cell_type": "code", "execution_count": 169, "id": "c42637e9", "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import numpy as np\n", "\n", "g=9.8 # [m/s²] gravity constant\n", "Mcar=800 # [kg] Car mass\n", "Mcw=600 # [kg] Counterweight mass \n", "\n", "dpulley=0.7 # [m] Pulley diameter\n", "Jpulley=10 # [kg.m²] Pulley inertia\n", "\n", "J=Jpulley + (dpulley/2)**2*(Mcar+Mcw) # [kg.m²] Equivalent inertia\n", "\n", "Wreducer=Xp/(dpulley/2) # [rad/s] Reducer speed (high torque side)\n", "Wpreducer=Xpp/(dpulley/2) # [rad/s²] Reducer accelzration (high torque side)\n", "\n", "Wmax=np.max(Wreducer) # [rad/s] max speed\n", "Wmean=np.trapz(abs(Wreducer),t)/np.max(t)# [rad/s] mean rolling fatigue speed\n", "\n", "Treducer= J*Wpreducer + dpulley/2*g*(Mcar-Mcw) # [N.m] reducer torque\n", "Preducer= Treducer*Wreducer # [W] Power\n", "Pmax=np.max(Preducer) # [W] max power\n", "\n", "Trmc=(np.trapz(abs(Treducer**3*Wreducer),t)/np.trapz(abs(Wreducer),t))**(1/3)\n", "Tmax=np.max(abs(Treducer))\n", "\n", "plt.figure(1)\n", "plt.subplot(311)\n", "plt.plot(t, Wreducer, label='Speed (rad/s)')\n", "plt.plot(t, Wmax*np.ones(len(t)), label='Max Speed = %.0f rad/s'%Wmax)\n", "plt.plot(t, Wmean*np.ones(len(t)), label='Mean Speed = %.0f rad/s'%Wmean)\n", "plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))\n", "plt.grid()\n", "plt.subplot(312)\n", "plt.plot(t, Treducer, label='Torque (N.m)')\n", "plt.plot(t, Tmax*np.ones(len(t)), label='Max Torque = %.0f N.m'%Tmax)\n", "plt.plot(t, Trmc*np.ones(len(t)), label='RMC Torque = %.0f N.m'%Trmc)\n", "plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))\n", "plt.xlabel('Time (s)')\n", "plt.grid()\n", "plt.subplot(313)\n", "plt.plot(t, Preducer , label='Power (W)')\n", "plt.plot(t, Pmax*np.ones(len(t)), label='Max Power = %.0f W'%Pmax)\n", "plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))\n", "plt.xlabel('Time (s)')\n", "plt.grid()" ] }, { "attachments": {}, "cell_type": "markdown", "id": "6826df03", "metadata": {}, "source": [ "### Gearbox selection\n", "\n", "We suppose that we want to select a reducer with reduction ratio $N$=61. The available range presents reducers of different sizes.\n", "![GearBox Catalog](./assets/images/GearBoxCatalog.png)\n", "\n", "> **Question 1:** Propose a gearbox that is compatible in terms of torque and maximum speed, and in terms of mechanical fatigue torque.\n", "\n", "**Reminder:** The rolling mechanical fatigue of internal gearbox bearings depends on the number of revolutions and therefore on a rated speed which may differ from that of the application. It is possible to relate the rated torque of the gearbox to the torque RMC previously calculated using the following relationship $𝑇_{𝑟𝑎𝑡𝑒𝑑}^3 𝜔_{rated} t=𝑇_{𝑅𝑀𝐶}^3 𝜔_{mean} t$" ] }, { "cell_type": "code", "execution_count": 170, "id": "7c9922e8", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Max torque: 1205 N.m\n", "Max input speed: 3330 rpm\n", "Rated torque: 566 N.m\n" ] } ], "source": [ "N=61\n", "WmeanHS=N*Wmean\n", "Trated=Trmc*(WmeanHS/(3000*2*3.14/60))**(1/3)\n", "print(\"Max torque: %.0f N.m\"%Tmax)\n", "print(\"Max input speed: %.0f rpm\"%(Wmax*N/2/3.14*60))\n", "print(\"Rated torque: %.0f N.m\"%Trated)" ] }, { "cell_type": "markdown", "id": "c339d5a2", "metadata": {}, "source": [ "AD200, 2 stages, N=61, gearbox seems compatible :\n", "- max Torque = 3 x Nominal torque = 3300 N.m\n", "- max input speed = 6000 rpm \n", "- nominal Torque = 1100 N.m" ] }, { "cell_type": "markdown", "id": "1cb847b9", "metadata": {}, "source": [ "### Brushless motor selection\n", "\n", "> **Question 1:** Calculate the max torque, max speed and RMS torque at the motor level. Take into account the direct and inverse efficiency of the gearbox in the calculation. Assume the effect of motor inertia negligible.\n", "\n", "**Reminders:** Root Mean Square Torque : $T_{RMS} = \\sqrt{ \\frac{\\int_0^T T^2 dt}{T}} $ \n" ] }, { "cell_type": "markdown", "id": "7f1811e3", "metadata": {}, "source": [ "Mechanical load =\n", "a cabin/car of variable mass according to the load: 400 kg empty, 1000 kg fully loaded\n", "+ a 700 kg counterweight\n", "+ a pulley with a diameter of 70 cm, an inertia of 10 kg.m², an efficiency of 95%.\n" ] }, { "cell_type": "code", "execution_count": 171, "id": "f7ae90cf", "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "N=61\n", "nu_d=0.94 # [-] gearbox direct efficiency \n", "nu_i=2-1/nu_d # [-] gearbox inverse efficiency\n", "\n", "Wmotor= N*Wreducer # [rad/s] Motor speed \n", "Wmax_motor=np.max(Wmotor) # [rad/s] Max motor speed\n", "\n", "Tmotor = Treducer/N/nu_d*(Preducer>0)+Treducer/N*nu_i*(Preducer<=0) # [N.m] motor torque\n", "Tmax_motor = np.max(Tmotor) # [N.m] max motor torque\n", "Trms=(np.trapz(abs(Tmotor**2),t)/np.max(t))**(1/2) # [N.m] RMS torque\n", "\n", "\n", "plt.figure(1)\n", "plt.subplot(211)\n", "plt.plot(t, Wmotor, label='Speed (rad/s)')\n", "plt.plot(t, Wmax_motor*np.ones(len(t)), label='Max Speed = %.0f rad/s'%Wmax_motor)\n", "plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))\n", "plt.grid()\n", "plt.subplot(212)\n", "plt.plot(t, Tmotor, label='Motor Torque (N.m)')\n", "plt.plot(t, Tmax_motor*np.ones(len(t)), label='Max Torque = %.0f N.m'%Tmax_motor)\n", "plt.plot(t, Trms*np.ones(len(t)), label='RMS Torque = %.0f N.m'%Trms)\n", "plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))\n", "plt.xlabel('Time (s)')\n", "plt.grid()\n" ] }, { "cell_type": "markdown", "id": "7ae404f9", "metadata": {}, "source": [ "> **Question 2:** Select a compatible motor in the following catalog.\n", "\n", "![GearBox Catalog](./assets/images/BrushlessMotorCatalog.png)" ] }, { "cell_type": "markdown", "id": "3323e178", "metadata": {}, "source": [ "![](.\\assets\\images\\TorqueSpeedCurveBrushlessMotor.png)" ] }, { "cell_type": "markdown", "id": "023154c3", "metadata": {}, "source": [ "> **Question 2:** Compare the application needs, such as RMS torque, max torque, max speed to the following motor characteristic.\n", "\n", "![Torque Speed curve](./assets/images/TorqueSpeedCurveBrushlessMotor.png)" ] }, { "cell_type": "code", "execution_count": null, "id": "d06bdfaf", "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.9.13" } }, "nbformat": 4, "nbformat_minor": 5 }