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### Link to PDF: HW2 PDF

Office Hours Correction:
Max power of a motor (number 1g) is given by:
$P_{max} = \frac{1}{2}\omega_{nl} * \frac{1}{2}\tau_{stall}$

### TBD Values:

L1 = 15cm
L2 = 5cm

M_disk = 230g
I_disk= 5.26e-4 Kgm^2
Disk 2b is the same as Disk 1

p1 = 10t XL pulley
p2 = 42t XL pulley

### Part 1 Clarifications:

c.i) method 2 alludes to but does not specifically give the formula. Where I and \omega are the no load current and speed.

$k_m = \frac{V_a-RI_{nl}}{\omega_{nl}}$

f.i) Use a time constant of .005s. The suggested constant will bias the data. The "Turn in" section also asks you to use a curve fit function in matlab, which could be suggesting the fit() function

### Part 2 Clarifications:

Assumptions:
• pulleys and shafts are massless
• Pulleys an disk in 2b are evenly spaced, see below for clarified diagram
• the angle of the timing belt is neglible
• the timing belts have no pre-tension
• there is no viscous friction

### 2a) Instructions:

1. Draw a FBD of the single shaft setup.
2. List equations of motion
3. Model the system in matlab with a disk and without (only motor inertia)
4. for both, plot: displacement (radians) and filtered velocity (rad/s) vs time (on the same plot). Filtered????? This is a numerical simulation, there is nothing to filter!
5. for both, plot: motor torque (Nm) and Power (W) vs time (on the same plot).
2b) Instructions:
1. You do not need a FBD. You can derive the equivalent inertia and friction using energy methods.
2. Model the system in matlab with a disk and without (only motor inertia)
3. for both, plot: displacement (radians) and velocity (rad/s) vs time (on the same plot).
4. for both, plot: motor torque (Nm) and Power (W) vs time