From ed15e5337b38c3f3fd7422a188f355d9bf16c5c4 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sun, 26 May 2024 14:48:31 -0700 Subject: [PATCH] Fix remark on modeling DC motor gearboxes --- .../newtonian-mechanics-examples/dc-brushed-motor.tex | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/system-modeling/newtonian-mechanics-examples/dc-brushed-motor.tex b/system-modeling/newtonian-mechanics-examples/dc-brushed-motor.tex index 2b96e4e4..79f9baca 100644 --- a/system-modeling/newtonian-mechanics-examples/dc-brushed-motor.tex +++ b/system-modeling/newtonian-mechanics-examples/dc-brushed-motor.tex @@ -115,8 +115,13 @@ \subsubsection{Angular velocity constant $K_v$} spinning at $\omega_{free}$, and $I_{free}$ is the current drawn by the motor under no load. -If several identical motors are being used in one gearbox for a mechanism, -multiply the stall torque by the number of motors. +\begin{remark} + To model a mechanism with several identical motors in one gearbox, multiply + the stall torque, stall current, and free current by the number of motors $N$. + $K_t$ and $K_v$ will be the same because $N$ cancels out, but $R$ will be + divided by $N$. This multiplies the acceleration contribution of each model + term by $N$. +\end{remark} \subsection{Current limiting}