Methodology
A lego car was designed and assembled for the experiment. The schematic
Results and Discussions
The time domain equation that considers all the variables for the system is needed to make the
necessary curve fit for the data and to obtain the unknown values of the variables J effective, D1, D2,
and motor coefficient A and B. To obtain the time domain equation, the differential equation for a car
system provided in the ME 176 lecture was taken and modified for the lego car system that was used
in the experiment.
The equation provided in the class was :
[ ( )]
N 2 Ea B w N 2 2
N
( mc r 2 +J w +mw r 2+ J eff ) w D2 + D1 2
N1 A
A N1
N1
( )
N2
N1
w = 0
B w 2
2 Ea
2 Ea( s)
B 2 2
=s w
+ s w ( mc r 2+ J w + mw r 2 + J eff ) +s w [ D2 + D1 2 ]
A
A
Also
Ea ( s )=
7.2
s
14.4 2
B 2
2
2
=s w ( mc r + J w + mw r + J eff ) + s w
+ s [ D 2 + D 1 2 ]
As
A
Further simplifying:
14.4
A
B
s s ( mc r + J w +mw r + J eff ) + w
+ s [ D 2 + D 1 2 ]
A
2
])
= w (s)
B
2
+ s [ D 2+ D 1 ]
A
14.4 G
14.4
14.4 G
N=
O=
2
2
AH
AH
AH
H
t
G
Where :
B2
+ s [ D 2+ D 1 2 ]
A
and
]
N2
N1
After the angular displacement curves of the functions for the two gear set has converged with
the plot of the data points obtained from the experiment, the variables Jeffective, D1, D2, A and B
that was given as output by the solver was recorded and used to with the time domain equation for
the system to predict the performance of other gear sets. The values of the system variables obtained
from the experiment are tabulated below.
Mass of Car (2 wheels attached)
0.983 kg
0.867 kg
Mass of Wheel
0.058 kg
20 , 24
12 , 8
0.0000683
Jeffective of Transmission(Kgm2 )
N m
0.00000286
N m
0.00615
Motor Coefficient A
Motor Coefficient B
0.00385
25.383
0.0767
Table. The Values of the System Variables Obtained from the Experiment and Used to Predict
System Performance for Other Gear Sets. The Values at the Right Hand Side Were Obtained From
the Curve Fitting Procedure.
Together with the time domain equation obtained previously, these values were used to obtain
data points for other gear sets of the car. The number of teeth for gear 1 and 2 can be varied to obtain
performance data for the other gear sets.
The resulting curves after the curve fitting was done are shown in the figures below.
Experimental
30
Computational
20
10
0
0
0.5
1.5
Time(seconds)
Figure. Time vs. Displacement Plot Obtained from Curve Fitting for the First Gear Set
Experimental
30
Computational
20
10
0
0 0.5 1 1.5 2 2.5 3
Time(seconds)
Figure. Time vs. Displacement Plot Obtained from Curve Fitting for the Second Gear Set.
The curve fitting for the time domain function was done simultaneously for the first and
second gear set to obtain a single set of values for the variables with unknown values. The minimum
net square error obtained by the solver function in excel for this curve fit is 4.686. Since the data
from were were curve fitted with the time domain equation simultaneously, the function generated
will use all variables tabulated in table 1 except for number of teeth of gear 1 and 2 since these two
values are going to be altered base on what gear set are in use by the car. Note that only the first and
last quarter portion of the data points while the car is running was used in the curve fitting process
but the time domain function and the data from the experiment was plotted for the whole run to
show the process with continuity. With the first gear set (20-12) in use, the car was able to finish the
run in approximately 1.9 seconds while the second gear set (24-8) did it in approximately 2.7
seconds.
With the approximate values obtained for the system variables with unknown values through
the curve fitting method, predicting and comparing the performance of the car for all other gear set
has become possible. Using the time domain function , the values in table 1 and the number of teeth
N1 and N2 for the gear set to be used, the performance data points and curves for the given gear
ratios(16-16 , 8-24 , 24-8 , 20-12 and 12-20) were generated.
Computational
1 meter
2 meters
4 meters
2
1
0
0
Time(Seconds)
Figure. The Time vs. Displacement Plot of the Car When Ran with 16-16 Gear Set Installed.
Computational
1 meter
2 meters
4 meters
2
1
0
0
Time(Seconds)
Figure. The Time vs. Displacement Plot of the Car When Ran with 8-24 Gear Set Installed.
Computational
3
Displacement(meters)
1 meter
2.5
2 meters
4 meters
1.5
1
0.5
0
0
Time(Seconds)
Figure. The Time vs. Displacement Plot of the Car When Ran with 24-8 Gear Set Installed.
5
Displacement(meters)
1 meter
2 meters
4 meters
2
1
0
0
Time(Seconds)
Figure. The Time vs. Displacement Plot of the Car When Ran with 20-12 Gear Set Installed.
Computational
1 meter
2 meters
4 meters
2
1
0
0
Time(Seconds)
Figure. The Time vs. Displacement Plot of the Car When Ran with 12-20 Gear Set Installed.
9
8
7
5
Displacement (meters)
N1=20 to N2=12
1 meter
1.5 meters
2.5 meters
2 meters
4 meters
0
0
Time (seconds)
Figure. The Time vs. Displacement Curves of the Car When Ran with Different Gear Sets Plotted
Together.
1 m.
1.5 m.
2 m.
2.5 m.
4 m.
16-16
0.947s
1.244s
1.527s
1.801s
2.607s
8-24
0.977s
1.416s
1.855s
2.3s
3.613s
24-8
1.626s
2.13s
2.6s
3.071s
4.428s
20-12
1.18s
1.535s
1.868s
2.189s
3.12s
12-20
0.848s
1.154s
1.456s
1.756s
2.655s
Table. The Theoretical Time Needed by the Car to Reach Each Reference Distances for Each Gear Set
Installed.
Conclusion
The experiment can be considered successful since consistent data points and a good curve
fit for these were obtained. The curve fit procedure yielded feasible values for the unknown
system variables with unknown values. The effective mass moment of inertia of transmission
(Jeff=), motor coefficients A() and B() and the friction coefficient at gear 1 (D1=) and gear
2(D2=) were obtained from curve fitting the time domain transfer function with the data sets
from the runs with the two gear sets simultaneously.
References