Chapter 3 Frame of experiment
3.3 Experiment setup
In the Figure3.10, the motor A drives the arm with the model V belt pulley and the model V belt. And, the radius of the model V belt pulley which is
r = reduction ratio r
-8, the max angular velocity of the arm is 3000 r velocity of the cup is 3000 rpm. Because the
So, we ca ine the
etary ball mill machine. We must control
(3-8) According to the equation 3
rpm. And, the max angula
motor B drives the cup with the shaft coupling.
n use the equation 3-8 and equation 3-7 to determ angular velocity of the motor B.
3.3 Experiment setup
When the hardware of the planetary ball mill machine set up, we must select software to control the plan
the angular velocity of the arm, the angular velocity of the cup and receive
axes servo or stepp
receive the encode of the motors and determine the speed of the motor analogy single. So we select the HMI (human machine interface) which is WIN PC32. Such as Figure 3.10. WIN PC32 includes the motion module, the digital I/O module and the analogy I/O module. And, WIN PC32 is open PC-Based control. WIN PC32 is internationalized HMI software. So, the range of application for the WIN PC32 is quite extensive, such as Figure 3.11. So, WIN PC32 is easily to design interface, control the angular velocity of the arm and the angular velocity of the cup with the motion card and receive analogy with the AD/DA card. We select the specification of the PC, the motion card and the AD/DA card in the table 3.2.
We use Win PC32 to control the motor A and the motor B with PC and motion card. Such as Figure 3.12. The motion card is HAL 8506.
HAL-8506 which is based on the EPCIO ASIC can provide 6
ing motor motion control with DDA (Digital Differential Analyzer) algorithm. The HAL-8506 has two operation modes: The first mode is to work with a velocity mode servo drive. The HAL-8506 compares the segmental movement commands from Host PC and the encoder feedback from servo motor, calculates, via P controls, the analog output command, then send the command to the velocity mode drive to control servo motor.
The second mode is to convert the segmental movement command into well behaved, from frequency variance standpoint, pulse train and feed to either the use position mode servo drive or a stepper drive to control the motor. We write one HMI (Human Machine Interface) software to control the angular velocity of the motor A and the angular velocity the motor B.
And, the motor A and the motor B are servo motor. The HMI software can
which is rotating steadily. Such as Figure 3.13. At the same time, the HMI software can control the AD/DA card to record direct current of the power of the motor B at 10 ms. The AD/DA card is HAL-8184 which is designed to meet the requirement of general analog I/O with high speed counter board for half-size ISA Bus. HAL-8184 provides one isolated, 8 channels, 12 bits free-run analog inputs and 4 channels, 16 bits free-run analog output with 2 channels, 16 bits high speed counters. And the direct current of the power for the motor B is displaying the interface. Such as Figure 3.14. In Figure 3.13 is the circuit diagram which record direct current of the power for the motor B. The direct current is recorded with the Hall sensor. The Hall sensor is the LA 55-P. The LA 55-P can measure DC, AC, plused and mixed with a galvanic isolation between the primary circuit (high power) and the secondary circuit (electronic circuit).
The experiment is mainly to measure the torque of the motor which is changed by the normal force which is changed by the hammer which mill in the inside wall of the cup. According to the equation 2-55 and equation 2-56. When the torque of the motors are changed by external force, the direct current of the power for the motors are changed, too. So, we can measure the direct current of power for the motor A and the direct current for the motor B. But, when the planetary ball mill machine runs, the motor B dives the cup with the shaft coupling and the motor A dives the arm with the model V belt. So, it is right to record direct current of the power for the motor B. Because, the power of the motor A is lost by belt. The record needs to reach 10000 materials. Because , the request data of FFT need 10000 materials. So, we record the direct current of the power for the motors with AD/DA card. Finally, we use the record to transform frequency
with FFT. So, We can determine the specific of motion for the hammer is in the cup by the frequency of the direct current.
Finally, we can determine the effect of the planetary ball machine with the size of the powder. And the size of the powder is determined by the normal force of the hammer. The planetary ball machine must mill the size of the powder to reach nano grade. So, we must determine the motion of the planetary ball machine.
Chapter 4 To compare simulation analysis and the experimental data
.1 Simulation analysis
he
equation in chapter 2. The simulation te the specific of motion for the hammer in the cup. A lation software simulates
mer, the friction force of the hammer,
4
We use visual C++ to design one simulation software with t software can simula
nd, the simu
ω
the normal force of the ham and
ωH. We use the simulation software to simulate with the parameter in table
we can find the hammer which is in the cup has two motion. The first motion is the finite swing motion. The second motion is the continuous rota
of the arm. We use the simulation software to simulate
When
4.1 and the angular velocity in Figure 4.1. According to the simulation data,
tion motion.
In addition, we use visual C++ design another simulation software with the equation in chapter 2. The simulation software can simulate the specific locus of two side for the hammer, the specific locus of the cup and the specific locus
with the parameter in table 4.1 and angular velocity in Figure 4.1.
4.1.1 Finite swing motion
A =191.022 = 286.533
ω rpm and ωP rpm , the motion
f the hammer is the finite swing motion. The number of θ is among 12°～ an use the equation 2-45 to prove θ which is right. The motion is the hammer which mill between 12°～-12° on inboard o
-12°. Such as Figure 4.2. We c
wall of . Such as Figu number of t
hammer is bigger, the size of the powder is smaller . The number of the friction force is among 8.3N～10N. Such as Figure 4.5. The number of the friction force have relations with the number of the normal force. When the number of the normal force is greater, the number of the friction is greater,
greater, the number of the normal force is greater, too.
the cup re 4.3. The he normal force is
among 27.5N～33.1N. Such as Figure 4.4. The number of normal force of the hammer can change the size of the powder. If the normal force of the
too. According to the equation 2-51 and the equation 2-52, we can find the torque to have relation with the friction. And, according to the equation 2-55 and the equation 2-56, we can find the direct current of the power to have relation with the torque. So, when the friction force is greater, the change of the direct current for the power is greater. ω is among -12rad/s～ 12rad/s. Such as Figure 4.6. According to the equation 2-23. When the ω is
ωH is among -42.5rad/s～-35.5rad/s. Such as Figure 4.7. According to the equation 2-26.
When ωH is greater, ω is greater, too. According to the equation 2.56. We can change from the torque to the direct current of power. K is coefficient of the motor B. So, the direct current of the power for the mot B is Figure
FFT. The frequency of simulation data direct current is 8.76Hz and 17.52Hz. Such as Figure 4.9. At the same time, we can use the equation 2-40 to prove the frequency which is right. It is characteristic for the finite swing motion. We can determine the motion of the hammer by the
or
4.8. W must record 10000 data of direct current for the power every 10 ms.
And, we can transform the direct current of power into the frequency with e
frequency.
When ωA =191.022 rpm and ωP = 286.533 rpm , the locus of LED for the simulation is Figure 4.10. The locus of LED for the simulation is produced by the simulation software in 0.5 second. We put the top view of the planetary ball mill machine on the Figure 4.10. The biggest outer circle is the arm. The second largest circle is the top of the inside wall for the cup. The minimum circle is the down of the inside wall for the cup. Such as Figure 4.11. In Figure 4.11, we can find the louse of the LED for the hammer to touch the minimum circle. And, we can find the louse of the LED for the hammer to run the leave half of the cup. It is characteristic for the finite swing motion. We can determine the motion of the hammer by the characteristic of the louse for the hammer.
So, When ωA =191.022 rpm and ωP = 286.533 rpm, we can use two method to determine the specific of the motion for the hammer which is in the cup. One method is the frequency of the direct current for the motor. Another method is the locus of LED for the hammer from the photo picture. If the experimental data conform to the simulation data, we can determine the finite swing motion of the hammer which is in the cup. At same time, we can find the normal force, the friction force, ω and ωH.
When A =71.633
4.1.2 Continuous rotation motion
ω rpm and ωP =573.066 rpm, the motion the hammer is the continuous rotation motion. The number of θ is
ccumulating. Such as Figure 4.12. The motion is the hammer which mill a
between 0°～-360°on inboard wall of the cup. Such as Figure 4.13. The number of the normal forc 31N～48N.
2-51 and the equation 2-52, we can find the torque to have relation with the friction. And, according to the equation 2-55 and the equation 2-56, we can
power is greater. ω is among 50rad/s～-53.8rad/s. Such as Figure 4.16.
e is among Such as Figure 4.14.
The number of normal force of the hammer can change the size of the powder. If the normal force of the hammer is bigger, the size of the powder is smaller . The number of the friction force is among 4.6N～7.2N. Such as Figure 4.15. The number of the friction force have relations with the number of the normal force. When the number of the normal force is greater, the number of the friction is greater, too. According to the equation
find the direct current of the power to have relation with the torque. So, when the friction force is greater, the change of the direct current for the
According to the equation 2-23. When ω is greater, the number of the normal force is greater, too. ωH is among -84rad/s～-93.5rad/s rad/s.
Such as Figure 4.17. According to the equation 2-26. When ωH is greater, the number of ω is greater, too. According to the equation 2.56. We can change from the torque to the current of power. K is coefficient of the motor B. So, the direct current of the power for the motor B is Figure 4.18.
with FFT. The frequency of simulation direct current is 14.33Hz. Such as Figure 4.19. It is characteristic for the continuous rotation motion. We can determine the motion of the hammer by the frequency.
We must record 10000 data of direct current for the power every 10 ms.
And, we can transform the direct current of the power into the frequency
When ωA =71.633 rpm and ωP =573.066 rpm, the locus of LED for the simulation is Figure 4.20. The locus of LED for the simulation is produced by the simulation software in 0.5 second. We put the top view of the planetary ball mill machine on the Figure 4.20. The biggest outer circle is the arm. The second largest circle is the top of the inside wall for the cup. The minimum circle is the down of the inside wall for the cup.
Such as Figure 4.21. In Figure 4.21, we can find the louse of the LED for the hammer to be not touch the minimum circle. And, we can find the louse of the LED for the hammer to run the first half of the cup. It is characteristic for the continuous rotation motion. We can determine the motion of the hammer by the characteristic of the louse for the hammer.
So, When ωA =71.633 rpm and ωP =573.066 rpm, we can use two method to determine the specific of the motion for the hammer which is in the cup. One method is the frequency of the direct current for the motor. Another method is the locus of LED for the hammer from the photo picture. If the experimental data conform to the simulation data, we can determine the con ion motion of the hammer which is in the cup. At same time, we can find the normal force, the friction force, ω and
H
tinuous rotat
ω .
In the experiment, when the planetary ball mill machine runs, the
4.2 Experimental data
direct current of power for the motor B is recorded. First, we measure the direct current with AD/DA card when the planetary ball mill machine runs
with no the hammer. Second, we measure the direct current with AD/DA
a v
to the equation 3-7 and equation 3-8. The teeth of the planetary gear is fifty.
The te
card when the planetary ball mill machine runs with the hammer. And, the record need 10000 material. The record which is data of the direct current transforms into frequency with FFT. At the same time, we use a single-lens reflex camera to take the louse of LED which is set up the planetary ball mill machine.
In the experiment, we must control the angular velocity of the arm nd the angular velocity of the cup. So, we must control the angular elocity of the motor A and the angular velocity of the motor B. According
eth of the sun gear is sixty-four. So, it is angular velocity of the cup.
) angular velocity of the motor A ocity of the motor B
ly.
(4.2)
and the angular vel equab
4.2.1 Finite swing motion
When ωA =191.022 rpm and ωP = 286.533 rpm , the direct current of the power for the motor B is recorded. We must record 10000
ata of direct current for the power every 10 ms. First, we measure the r the motor B when the planetary ball mill machine with no the hammer. Such as Figure 4.22. Second, we measure the d
direct current of the power fo
direct current of the power for the mot planetary ball mill machine with the hammer. Such as Figure 4.23. In Figure 4.22 and Figure 4.23, we can find much noise. The noise is produced by the machine which can produce shake when the machine runs. The record which is with no the hammer is transforming into frequency with FFT. Such as Figure 4.24. The record which is with the hammer is transforming into frequency with FFT.
Such as Figure 4.25. Especially, there are the low frequency in the Figure 4.24 and Figure 4.25. If the machine is assembled instability, the machine produces low frequency. So, the low frequency doesn’t influence the direct current of the power for the motor B. And, we can use the Figure 4.24 to compare with Figure 4.25. We find difference in frequency between the Figure 4.24 and Figure 4.25. We must use the different frequency compare with simulation data and check the different frequency. If the different frequency conform to the simulation data, we can determine the specific of the motion of the hammer.
At the same time, we use a single-lens reflex camera to take the louse of the LED which is set up top of the hammer, the side of the arm and the side of the cup. Such as Figure 4.26. The locus of experiment is produce by the single-lens reflex camera in 0.5 second. We put the top view of the planetary ball mill machine
or B when the
on the Figure 4.26. The biggest outer circle is the ar
of the hammer is the finite swing motion form the louse of the experimental m. The second largest is the top of the inside wall for the cup. The minimum circle is the down of the inside wall for the cup. Such as Figure 4.27. In Figure 4.27, we can find the louse of the LED for the hammer to touch the minimum circle. And, we can find the louse of the LED for the hammer to run the leave half of the cup. So, we can determine the motion
data..
4.2.2 Continuous rotation motion
A =71.633 =573.066
When ω rpm and ωP rpm, the direct current
current for the power every 10 ms. First, we measure the direct current of the power for the motor B when the planetary ball mill machine with no the hammer. Such as Figure 4.28. Second, we measure the direct current of the power for the motor B when the planetary ball mill
igure 4.29. In
of the power for the motor B is recorded. We must record 10000 data of direct
machine with the hammer. Such as F Figure 4.28 and Figure 4.29, we can find much noise. The noise is produced by the machine which will produce shake when the machine run. The recorded which is with no the hammer is transforming into frequency with FFT. Such as Figure 4.30.
The record which is with the hammer is transforming into frequency with FFT. Such as Figure 4.31. Especially, there are the low frequency in the Figure 4.30 and Figure 4.31. If the machine is assembled instability, the machine produces low frequency. So, the low frequency doesn’t influence the direct current of the power for the motor B. And, we can use the Figure 4.30 to compare with Figure 4.31. We find difference in frequency between the Figure 4.30 and Figure 4.31. We must use the different frequency compare with simulation data and check the different frequency. If the different frequency conform to the simulation data, we can determine the specific of the motion of the hammer.
At the same time, we use a single-lens reflex camera to take the louse of LED which is set up top of the hammer、the side of the arm and the side
of the cup. Such as Figure 4.32. The locus of experiment is produce by the single-lens reflex camera in 0.5 second. We put the top view of the planetary ball mill machine on the Figure 4.32. The biggest outer circle is the arm. The second largest circle is the top of the inside wall for the cup.
The m
In
inimum circle is the down of the inside wall for the cup. Such as Figure 4.33. In Figure 4.33, we can find the louse of the LED for the
inimum circle is the down of the inside wall for the cup. Such as Figure 4.33. In Figure 4.33, we can find the louse of the LED for the