Final Report - Claymore - Grand Valley State University

where, ω = angular velocity of the launcher motor, τ = torque motor give, J =
mass moment. The state equations above allow us to find the angular velocity the
motor gives. Once angular velocity is found, time is found by
dθ
ω = . (2.3)
dt
Integrate (2.3), and solve for t = time
t = θ / ω
(2.4)
2.1.2
Scilab Calculation for Panning Motor Selection
Figure 2.2: The torque and inertia in a basic motor model
The first-order differential equation can developed from motor properties using
some basic measurements.
Tm = KI
(2.6)
Tm
I = ( 2 .7)
K
where, T = motor torque, K= constant, and I = current. Then consider the
m
power in motor,
P m +
= V I = Tω
KIω
(2.8)
V m = Kω
(2.9)
V m
where, = voltage supply to motor, and P = power. The dynamics of the
rotating masses can be found by summing moments,
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