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Re: pic: Small CIM in wheel swerve
You can skip the whole lesson on Maxwells equations and simply use the quite linear DC motor equations:
Current = ((Stall Current – Free Current) / Stall Torque) x Torque Load + Free Current
Torque Load = (Current – Free Current) x Stall Torque / (Stall Current – Free Current)
Speed = - (Free Speed / Stall Torque ) x Torque Load + Free Speed
Power = 3.14 x Speed x Torque Load / 30
The efficiency is simply power out over power in,
Eff = Power / (Current x Voltage)
For a CIM motor:
Free Speed: 5,310 rpm (+/- 10%)
Free Current: 2.7A
Maximum Power: 337 W (at 2,655 rpm, 172 oz-in, and 68A)
Stall Torque: 2.42 N-m (343.4 oz-in)
Stall Current: 133A
You run peak current at the highest torque load.
As an aside, it's no mystery why six CIM drives pop their main breakers with regularity.
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