# Homework2

### Link to PDF: HW2 PDF

Office Hours Correction:

Max power of a motor (number 1g) is given by: ### 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. 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

### 2b: Clarified Diagram: 