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Unread 27-03-2013, 12:04
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Ether Ether is offline
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Re: simulation/analysis of motorized shooter


Mark,

For rough ballpark: assume load moment of inertia of a 3 pound 6" dia uniform disk. Assume CIM shaft coupled directly to wheel. 5300 RPM free speed, 343 ounce-inches stall torque, linear. At setpoint of 4000 RPM, tune so decel (motor command = 0) is 1/3(?) of accel (motor command = 1).

Controller:

bang-bang needs no explanation.

TakeBackHalf can be found here.


 


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