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When selecting drive wheel motors for mobile Table 1: Rolling Resistance for Rubber Wheels
vehicles, a number of factors must be taken into
account to determine the maximum torque required. Contact Surface Crr
The following example presents one method of Concrete (good / fair / poor) .010 / .015 /.020
computing this torque. Asphalt (good / fair / poor) .012 / .017 / .022
Wood (dry/dusty/wet) .010 / .005 / .001
Snow (2 inch / 4 inch) .025 / .037
Example vehicle design criteria:
Dirt (smooth / sandy) .025 / .037
Mud (firm / medium / soft) .037 / .090 / .150
Gross vehicle weight (GVW): 35 lb
Weight on each drive wheel (WW): 10 lb Grass (firm / soft) .055 / .075
Radius of wheel/tire (Rw): 4 in Sand (firm / soft / dune) .060 / .150 / .300
Desired top speed (Vmax): 1.5 ft/sec
Desired acceleration time (ta): 1 sec
Maximum incline angle (): 2 degree
Step Two: Determine Grade Resistance
Worst working surface: concrete (good)
Grade Resistance (GR) is the amount of force
necessary to move a vehicle up a slope or grade.
To choose motors capable of producing enough This calculation must be made using the maximum
torque to propel the example vehicle, it is necessary angle or grade the vehicle will be expected to climb in
to determine the total tractive effort (TTE) normal operation.
requirement for the vehicle:
To convert incline angle, , to grade resistance:
TTE [lb] = RR [lb] + GR [lb] + FA [lb]
GR [lb] = GVW [lb] x sin()
Where:
TTE = total tractive effort [lb] where:
RR = force necessary to overcome rolling resistance [lb] GR = grade resistance [lb]
GR = force required to climb a grade [lb] GVW = gross vehicle weight [lb]
FA = force required to accelerate to final velocity [lb] = maximum incline angle [degrees]
Step One: Determine Rolling Resistance Step Three: Determine Acceleration Force
Rolling Resistance (RR) is the force necessary to Acceleration Force (FA) is the force necessary to
propel a vehicle over a particular surface. The worst accelerate from a stop to maximum speed in a
possible surface type to be encountered by the desired time.
vehicle should be factored into the equation.
FA [lb] = GVW [lb] x Vmax [ft/s] / (32.2 [ft/s ] x ta [s])
2
Example: Example:
Example: