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robotsoftware:mobotware:rhd:plugins:rtq [2012/08/01 10:37] claes |
robotsoftware:mobotware:rhd:plugins:rtq [2021/08/14 04:21] (current) |
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This plugin cannot be used together with the [[mobot> | This plugin cannot be used together with the [[mobot> | ||
</ | </ | ||
+ | === Gear ratio === | ||
The [[robots: | The [[robots: | ||
- | $$\alpha=r*\Theta*R*m_{RPM} -> m_{RPM}=\frac{\alpha}{r*\Theta*R}$$ | + | === Speed Calculations === |
+ | With the current configuration the speed is given in $\frac{cm}{s}$. This is recalculated with | ||
+ | $$v_{in}/ | ||
+ | |||
+ | == Angular and Linear velocity == | ||
+ | The relation between the linear speed and angular velocity is given by $v = r*\omega$ where $r$ is the radius of the circle and $\omega$ is the anguler velocity. | ||
+ | |||
+ | To change $\omega$ from RPM to $rad/s$ the following converson is done | ||
+ | $$1 RPM = 1\frac{rev}{min}*2\pi\frac{rad}{min}*\frac{1}{60}\frac{min}{s}=\frac{\pi}{30}\frac{rad}{s} $$ | ||
+ | |||
+ | This constant is called $\frac{\pi}{30}\frac{rad}{s}=\Theta$ | ||
+ | |||
+ | The angular velocity from the motor to the drivewheel is defines by $\omega=G*m_{RPM}$, | ||
+ | |||
+ | Combine the above formulas and you get the following | ||
+ | |||
+ | $$v=r*\Theta*G*m_{RPM} -> m_{RPM}=\frac{v}{r*\Theta*G}$$ | ||
- | $$\frac{\pi}{30}\frac{rad}{s}=\Theta$$ | + | == Change RPM to control value == |
- | $$v_p = r*\omega$$ | + | $$controlvalue=\frac{m_{rpm}}{max_{rpm}}*1000$$ |
- | $$\omega=R*m_{RPM}$$ | + | $$max_{RPM}=8000$$ |
- | $$controlvalue=\frac{m_{rpm}}{max_{rpm}}*1000$ | ||
- | $$1 RPM = 1\frac{rev}{min}*2\pi\frac{rad}{min}*\frac{1}{60}\frac{min}{s}=\frac{\pi}{30}\frac{rad}{s}$$ | ||