MECHATRONICS SYSTEMS

MODELING

BELT DRIVES

Isira Naotunna
Assistant Lecturer
Dept. of Mechanical Engineering
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 Belt Drives

Figure shows the scheme of a belt drive. The belt loops

the pulleys onto the driver and driven shaft, where a
peripheral force Fu at the discs is created as the
difference between the load force of the tight side F 1(t)
and the slack side F2(t).
These forces generate the torques and rotating
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speeds of the pulleys.
 Belt Drives

The belt can be considered as a transformer element

with spring-damper behavior.

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 Belt Drives
With regard to modeling a belt drive, different belt
types have to be distinguished,
Friction belt drives
Flat belt or V-belt transmission, etc.
The power transmission follows the principle of the rope
friction.
The speed transformation is reached for correct design with a
low, load-dependent slip and an almost constant transmission
ratio;

Toothed belt drives

Synchronous or positive belt drives.
The tangential forces are generated without slip and
therefore a constant transmission ratio is obtained.
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 Equivalent model of Belt Drives
The following simplifying assumptions are met:
the belt is massless;
the shaft distance is constant;

the effect of centrifugal forces is neglected;

the deformation of the wheels and the shafts is neglected

compared to the belt deformations;

for a certain load status, the modulus of elasticity is constant

over the total belt length, such that Hooke's law applies;

for friction belts, extension slip only occurs.

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 Equivalent model of Belt Drives

The induces used are:

1 tight side belt, driving pulley;
2 slack side belt, driven pulley.

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 Equivalent model of Belt Drives

The belt spring stiffness cR can be estimated by the

following formula

The belt-damping coefficient dR can be calculated

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 Equivalent model of Belt Drives
With these assumptions, the following angular momentum
balances at the two wheels can be stated

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 Equivalent model of Belt Drives
By Intersecting A & B we can obtain following
Equations

Non measurable quantities l1 & l2 can be calculated

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 Equivalent model of Belt Drives
a) Flat belt drive (friction belt)

Frictionally engaged belt drives always operate with a slightly load-

dependent extension slip, i.e., the speed of the driven pulley is
smaller than the speed of the driving pulley.

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 Equivalent model of Belt Drives
By Solving Above equations........

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 Equivalent model of Belt Drives

Lets derive the equations for l1 & l2 using velocities of

the belt drive

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 Equivalent model of Belt Drives
In order to eliminate unknown speeds VIA and V2A in
Assume

From the slip definition

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 Equivalent model of Belt Drives
Hence ,

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 Equivalent model of Belt Drives
Finally obtains the following differential equation system for flat
belt transmissions

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 Equivalent model of Belt Drives
simplified equivalent model for fiat belt transmissions.

Transfer functions for the system can be derived as

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 Equivalent model of Belt Drives
b.) Synchronous belt drive (toothed belt)
Because of the positive engagement, a slip-free
transmission with constant ratio results.

Therefore, following mathematical model can be derived

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 Equivalent model of Belt Drives
b.) Synchronous belt drive (toothed belt)
The corresponding transfer functions of the two-port representation
(small signal changes) for the synchronous belt drive with speed and
torque as inputs are

Simplified equivalent model of the synchronous belt drive

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 Equivalent model of Belt Drives
b.) Synchronous belt drive (toothed belt)

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