Quote:
Originally Posted by James Critchley
now I'm just waiting to be surprised by the results Ether's calculations
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Well I wouldn't want to disappoint :-)
Looking at the wheel without the vehicle (as you did):
I*alpha is equal to the
net torque on the wheel. If "tau" is the driving torque on the wheel and F is the floor reaction force responsible for the linear acceleration of the wheel, then a free-body analysis of the torques and forces on the wheel gives:
tau - F*R = I*alpha
tau - (M*A)*R = (K*M*R*R)*(A/R)
tau = = M*A*R*K + M*A*R
A = tau/(M*R*(K+1))
For the analysis of wheel
plus vehicle, see attached PDF.
Code:
a = tau/(I/r +r*(Mw+Mv/4))
a is vehicle acceleration;
tau is driving torque on wheel from gearbox;
I is wheel moment;
r is wheel radius;
Mw is wheel mass;
Mv is vehicle mass.