TL
Ti W TL
Figura 2.1
- W, Ti corresponden al motor.
- TL corresponde a la carga.
En el primer cuadrante la carga frena el giro de la máquina, es decir, el torque
inducido es contrario al torque de carga, mientras que en el tercer cuadrante al
cambiar de sentido de giro el torque de carga cambia.
Lf
τf =
Rf (Constante de tiempo) (2.1)
L a + LS
τa = τi = ki f i a
Ra + RS (2.2) (2.3)
2.2 Ejercicios
2.2.1. Determine la rotación (TL) Vs (W) para el siguiente sistema:
Figura 2.2
TM : Torque de carga en el eje del motor.
TR : Torque resultante.
m 2 > m1 (2.4)
TR = T2 − T1 (2.5)
TR = m 2 gr − m 1gr (2.6)
TR = ( m 2 − m1 ) gr (2.7)
Luego:
TM = TR = ( m 2 − m1 ) gr = Cte (2.8)
Figura 2.3
P = TM WM = F ⋅ V (2.9)
Cte
TM =
WM (2.11)
Figura 2.5
ur
V = Cte
(2.13)
T = F ⋅ rd = mg ⋅ rd (2.14)
Td = T = mg ⋅ rd (2.15)
TM ⋅ WM = Td ⋅ Wd (2.16)
TM ⋅ WM = mg ⋅ rd ⋅ Wd (2.17)
mg ⋅ rd ⋅ Wd
TM =
WM (2.18)
Donde:
rd ⋅ Wd = v
rd* ⋅ WM = v (2.19)
mg ⋅ v
TM =
WM (2.20)
mg ⋅ rd* ⋅ WM
TM = = mg ⋅ rd*
WM (2.21)
Wd
rd* = rd
WM (2.23)
Figura 2.6
Momento de inercia en el eje del motor:
2 2
W W
J eq = J m + J d d + J L d
rd WM (2.25)
2 2
rd* rd *
J eq = J m + J d + JL
rd rd (2.26)
Fm = Fr → v = Cte (2.27)
Fr = µ ⋅ N = µ ⋅ mg (2.28)
Fm = µ ⋅ mg (2.29)
Tm = Fm ⋅ rd (2.30)
Tm = µ ⋅ mg ⋅ rd (2.31)
v
v = w ⋅ rd → rd =
w (2.32)
v
Tm = µ ⋅ mg ⋅
m (2.33)
Tm
µ mg rd
Wm
- µ mg rd
Figura 2.8
Figura 2.9
Tm = To + K ( w m )
n
(2.34)
n = Potencia
To=torque inicial para vencer la fricción.
Figura 2.10
2.2.6. Determine la relación Tm vs. W (Banda – Hidráulica):
Wm, Tm
Figura 2.11
Tm = To + Kw m n (2.35)
Pm = Tm ⋅ Wm (2.36)
Pm = To ⋅ Wm + k ⋅ ( Wm )
n +1
(2.37)
Figura 2.12
2.2.6a.
Figura 2.13
Qi = Qo
Qi: Caudal de entrada
Qo: Caudal de salida
Qi ' = Q0 (2.39)
L
Fm
β
α
JL, m
V
Wm, Tm
Figura 2.15
Tm(Wn)
J eq = ? (2.40)