- #1
Payam30
- 46
- 1
Hi,
I have a Driving wheel for which I'm trying to make an observer for. The abserver works very well however , since I don't have my background in mechanics something strange happens. I have to say that I don't know why I think it's strange and that's why I put my question here.
Lets assume we have a driving wheel. The traction force is in the direction of motion and so is the rolling resistance since we have a driving wheel.
The EOM would be
[tex] J \dot{\omega} = T- F_r R_e - F_x R_e [/tex]
[tex] m \dot{v} = F_x + F_r [/tex]
here we assume that the values of [itex] F_s[/itex] are neglectable.
In the figure [itex] N,W, R_e, F_r, F_x, F_a, T, \omega, R_0 [/itex] are Normal force, weight, effective radius, Rolling resistance, traction force, aerodynamic force, torque, angular velocity, and nominal tire radius.
When I try to solve for [itex]\omega[/itex] for this system with, [itex] T = 100-400 Nm, F_x = 0.6*700*9.81 N, F_r = 127- 173 N, J = 25.1 , m = 700 kg, R_e = 0,72 m, F_a = 0 N [/itex] I get negative values for [itex] \omega =0:-550 rad/s [/itex] and velocity to [itex] v = 0-32 m/s[/itex]. how can it be possible? where am I doing wrong? why is [itex] \omega [/itex] negative and translation velocity positive?
I have a Driving wheel for which I'm trying to make an observer for. The abserver works very well however , since I don't have my background in mechanics something strange happens. I have to say that I don't know why I think it's strange and that's why I put my question here.
Lets assume we have a driving wheel. The traction force is in the direction of motion and so is the rolling resistance since we have a driving wheel.
The EOM would be
[tex] J \dot{\omega} = T- F_r R_e - F_x R_e [/tex]
[tex] m \dot{v} = F_x + F_r [/tex]
here we assume that the values of [itex] F_s[/itex] are neglectable.
In the figure [itex] N,W, R_e, F_r, F_x, F_a, T, \omega, R_0 [/itex] are Normal force, weight, effective radius, Rolling resistance, traction force, aerodynamic force, torque, angular velocity, and nominal tire radius.
When I try to solve for [itex]\omega[/itex] for this system with, [itex] T = 100-400 Nm, F_x = 0.6*700*9.81 N, F_r = 127- 173 N, J = 25.1 , m = 700 kg, R_e = 0,72 m, F_a = 0 N [/itex] I get negative values for [itex] \omega =0:-550 rad/s [/itex] and velocity to [itex] v = 0-32 m/s[/itex]. how can it be possible? where am I doing wrong? why is [itex] \omega [/itex] negative and translation velocity positive?