paper: MINIBOT acceleration solution

[Ether]

Originally Posted by boomergeek

I used 7400 for freewheel speed based on Richard's dynamometer results and then I adjusted the friction number until it approximately matches the video evidence of our minibot...
it predicts 2 lbs of friction!!

Did you use .09 or .094 for the stall torque?

If you use .094 then a straight line from 7400 free rpm to .094 Nm stall will give a max power of 18.2 watts. I think that's a bit optimistic.

If you use .09 then it's 17.4 watts, which matches the upper curve in Richard's data.

Since it appears there may be some significant variation in the motors, I selected freeSpeed and stallTorque values for the spreadsheet which give 16.8 watts, to make the numbers a bit more conservative. But of course YMMV.