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I'm shooting from the hip, here, so don't crucify me if I'm passing out bad information.
I'm fairly sure that, in the ideal DC motor, the torque versus speed curve is linear. In this case, you should get the same result regardless of where you perform the matching. In reality, none of the "linear" parameters are linear. I was under the impression that motor specifications arrive at the extreme point by projecting mid-range data. In this case, even if the linear assumption is wrong, the extreme values are projections of the mid-range values and using them in design is OK.
Further, you need to match parameters within some tolerance of good enough (say 10%). The coupling between the motors through the ground will cause the two motors to accommodate.
I'm confident enough in these assumptions to undertake a design. If it turns out to be a disaster, we can always throw away the CIM's.
We should be using a sprocket and chain on at least one of our drive motors. This would allow us to perform some ad hoc matching/tweaking.
Andrew
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