MOTION CONTROL CALCULATION

40 mT Spooling Tension at 33 m/min, Full Reel

Torque required to overcome inertia.

2
IR  314000000  m  kg Reel Inertia
2
IM  31.1m  kg Motor Inertia
2
IB  542.98m  kg Brake Inertia
2
IP  124.13m  kg Pinion Inertia
2
IS  1.655m  kg Motor Shaft Inertia
ηg  .95 Efficiency of Main Gear Set
ηm  .97 Efficiency of Motor
ηbk  .95 Efficiency of Brake
ηbg  .98 .98  0.960 Efficiency of Bearings
486
mg   24.300 Gear Ratio
20
n  4 Number of Drive Assemblies
r  12.116m Pitch Radius of Tension
m
v  .55 Speed Required
s
t  30 s Time Required to Reach Speed
v  mg 1
α   0.037 Angular Acceleration Required
r t 2
s
IR IM IB IS
I     IP 
2 ηm ηbk ηbg
n mg  ηg

2
I  140666.778 m  kg Total Inertia

T1  I α  5172.256 m N Torque Due to Inertia

Torque required to accelerate the load.

LP  40000  kg Pipe Tension
v m
a   0.0183 Acceleration Required
t 2
s
Tp  LP r ( g  a)  4761579.923  m N Torque Due to Pipe Tension

Tf  7167936m N Torque Due to Bearing Friction

Te  9571632m N Torque Due to 300 mm Eccentricity

Evaluation of Drive Assembly 1/2 Reel Drive System 12/31/2010

 Tp  Tf  Te
T2   263102.083 m N Torque Reflected to the Pinion Shaft Due to the Load
n  mg  ηg  ηm ηbk ηbg

Ttotal  T1  T2  268274.338 m N Total Torque Reflected to the Pinion Shaft

Drive assembly characteristics based on Hagglunds CB840.

m N
Ts  840  Motor Specific Torque
bar

p  350  bar Maximum Motor Pressure

ω  21 rpm Motor Rated Speed

(special considerations regarding charge pressure, cooling

and choice of hydraulic system for speeds above rated, 4
ports must be used for higher speed)
hpm  1200 hp Maximum Motor Horsepower, Intermittently

Verify if motor is proper size.

Ttotal
p rq   319.37 bar Required Pressure Across Motor Ports
Ts

p
Pratio   1.096
p rq

v  mg
ωrq   10.534 rpm Required Motor Speed
r
ω
Nratio   1.994
ωrq

hprq  Ttotal ωrq  396.85 hp Required Horsepower

hpm
HP ratio   3.024
hprq

For spooling, in regards to required pressure across the motor ports, required charge pressure and
maximum motor pressure, the motor is not adequately sized. The motor would have to run at or over
maximum motor pressure.

Evaluation of Drive Assembly 2/2 Reel Drive System 12/31/2010