17 - PVD3627-August 2011
This method is more complex but provides the exact solution for
t
2
. It is sometimes
used where justified by the required accuracy or by a resistant torque
M
resistant
non-
negligible compared to
M
motor
.
This method is
Method #2:
only valid
if
M
resistant
≠
0.
t
2
is solution of a nonlinear first order differential equation.
M
resistant
≠
0
Procedure to follow:
e
spindle
in
time
on
accelerati
e
t
b
c
a
t
e
axis
in
time
on
accelerati
d
a
y
t
c
b
y
Ln
c
t
c
a
c
b
y
y
y
M
M
d
M
c
P
b
J
a
x
t
c
x
x
base
t
resis
motor
t
resis
motor
mod
_
_
)
*
*
(
mod
_
_
*
)
(
*
1
*
1
*
*
2
0
1
1
0
max
1
0
tan
tan
−
−
+
=
=
−
−
=
=
−
=
Ω
=
Ω
=
−
=
=
=
Σ
=
λ
µ
λ
λ
µ
λ
Acceleration time t
2
“at constant Power” from
Base speed
to
Maximal speed
:
2
1
t
t
t
+
=
Λ
Total acceleration time
∆
t
from 0 to
Maximal speed
is given by the sum of t
1
and t
2
:
