FORMULAS FOR

MOTORIZED
LINEAR MOTION
SYSTEMS

Haydon Kerk Motion Solutions : 203 756 7441

Pittman Motors : 267 933 2105

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 2 Symbols andSYMBOLS
Units AND UNITS
Symbol Description Units Symbol Description Units

a linear acceleration m/s2 P power W

a angular acceleration rad/s 2 Pavg average power W
ain angular acceleration rad/s 2 PCV power required at constant velocity W
aout angular acceleration rad/s2 Pin power required at system input W
α temperature coefficient /°C Ploss dissipated power W
DV viscous damping factor Nm s/rad Pmax maximum power W
F force N Pmax(f) maximum power (final“hot”) W
Fa linear force required during acceleration (FJ +Ff +Fg) N Pmax(i) maximum power (initial “cold”) W
Ff linear force required to overcome friction N Pout output power W
Fg linear force required to overcome gravity N PPK peak power W
FJ linear force required to overcome load inertia N Rm motor regulation RPM/Nm
g gravitational constant (9.8 m/s2) m/s2 Rmt motor terminal resistance Ω
I current A Rmt(f) motor terminal resistance (final“hot”) Ω
ILR locked rotor current A Rmt(i) motor terminal resistance (initial “cold”) Ω
IO no-load current A Rth thermal resistance °C/W
IPK peak current A r radius m
IRMS RMS current A S linear distance m
J inertia Kg-m2 t time s
JB inertia of belt Kg-m2 T torque Nm
JG B inertia of the gear box Kg-m2 Ta torque required to overcome load inertia Nm
Jin reflected inertia at system input Kg-m2 Ta (motor) torque required at motor shaft during acceleration Nm
Jout reflected inertia at system output Kg-m 2
TC continuous rated motor torque Nm
JP 1 inertia of pully 1 Kg-m2 TCF coulomb friction torque Nm
JP 2 inertia of pully 2 Kg-m2 Td reverse torque required for deceleration Nm
JS lead screw inertia Kg-m2 TD drag / preload torque Nm
KE voltage constant V/rad/s Tf torque required to overcome friction Nm
K(f) KE or KT (final“hot”) Nm/A or V/(rad/s) Tg torque required to overcome gravity Nm
K(i) KE or KT (initial “cold”) Nm/A or V/(rad/s) Tin torque required at system input Nm
Km motor constant Nm/ w TLR locked rotor torque Nm
KT torque constant Nm/A Tout torque required at system output Nm
L screw lead m/rev TRMS RMS torque required over the total duty cycle Nm
m mass Kg TRMS (motor) RMS torque required at the motor shaft Nm
N gear ratio n/a μ coefficient of friction n/a
η efficiency n/a VT motor terminal voltage V
n speed RPM Vbus DC drive bus voltage V
nO no load speed RPM v linear velocity m/s
nP K peak speed RPM vf final linear velocity m/s

θ load orientation (horizontal = 0°, vertical = 90°) degrees vi initial linear velocity m/s

Θa ambient temperature °C vPK peak linear velocity m/s

Θf motor temperature (final“hot”) °C W energy J

Θi motor temperature (initial “cold”) °C ω angular velocity rad/s

Θm motor temperature °C ω in angular velocity at system input rad/s
Θr motor temperature rise °C ω out angular velocity at system output rad/s
Θrated rated motor temperature °C ωo no load angular velocity rad/s
ω PK peak angular velocity rad/s

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 MOTION SYSTEM
3 Motion System Formulas
FORMULAS

Any motion system should be broken down

into its individual components.
Power Controller / Mechanical Lead Screw /
Supply Drive Motor Transmission Support Rails
+
+
F x S Watts
= Out
t
(V)(I) Watts (V)(I) (V)(I) (T)(ω) (T)(ω) Watts
Watts Watts Watts
Watts Lost Watts Lost Watts Lost Watts Lost Watts Lost

All analysis begins with the linear motion

profile of the output and the force required
to move the load.
Motion Profiles

/ / /
1 3 1 3 1 3 Trapazoidal Motion Profile

vpk
-a
v
a

t1 t2 t3 t dwell Time
t move
Total Cycle Time

Optimized for minimum power

t 1 = t 2= t 3
S
vPK = 3S
is the total move distance
t is the total move time
2t Area under profile curve represents distance moved

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4 Motion System Formulas
MOTION SYSTEM
FORMULAS

Triangular Motion Profiles v

PK

-a
v

a
Optimized for minimum
acceleration slope

t1= t2 t1 t2 t dwell Time

t move
v PK =
2S
t
Total Cycle Time

S is the total move distance Move Profile Peak Velocity (VPK) Acceleration (a )
t is the total move time
/ / /
13 13 13
Area under profile curve
represents distance moved Triangular

Complex Motion Profile

v 2

v
a2

v
1
-a 3
a1

t1 t2 t3 t4 t5 t Time
dwell
t move
Total Cycle Time

Linear Motion Formulas Linear to Rotary Formulas

vf - vi through a Lead Screw
(1) s= –––– t
(2)
2
vf = vi + a t a = 2 πL a = rad/s 2

s = vi t + –12 a t 2
(3)
ω = 2 πLv = rad/s
(4) 2 a s = vf 2 - vi 2
v
a = f i = Δv
(v -v ) 60
(5) n= L
= RPM
( tf - ti ) Δt

3 known quantities are needed to solve for the other 2.

Each segment calculated individually.

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 MOTION SYSTEM
5 Motion System Formulas
FORMULAS

Inertia, Acceleration, Velocity, and Required Torque

Lead Screw System

L 2
1
Jin = m
2π
X η + JS Kg-m2

a
in =
2 πa
L
rad/sec 2

2 πv rad/sec
Jin mout ω in =
L
a in a out Τin= Τa+Τf +Τg+ΤD N-m
ωin v out Τa= Jin in a N-m
Tin Fout Τf = cosØm μL
g N-m
2 πη

Τg = sinØm L
g N-m
2 πη
ΤD = drag/preload N-m
refer to
manufacturer’s data

Belt and Pulley System

Jout 1
Jin = X
η + JP1 + JP2 + JB Kg-m2
N2
a = (a
in out )(N) rad/sec 2

Jin Jout
ωin = (ωout)(N) rad/sec

a in a out Τin = Τout X

1
η N-m
ωin ωout N
For a 1st approximation analysis, JP1 , JP2 , and JB
Tin Tout can be disregarded. For higher precision, pulley and
belt inertias should be included, as well as the
reflected inertia of these components.

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6 Motion System Formulas
MOTION SYSTEM
FORMULAS

Gearbox System Jout 1

Jin = 2
X
η + JGB Kg-m2
N
a = (a
in out )(N) rad/sec 2

Jin
ωin = (ωout)(N) rad/sec
Jout
a in a out Τin = Τout X
1
η+
ΤD N-m
ωin ωout N
Drag torque can be significant (T D) depending on the
Tin Tout viscosity of the lubricant. For a first approximation analysis,
this can be left out.
Gearbox inertia may be found in manufacturer’s data sheets,
or calculated using gear dimensions and materials / mass.

Mechanical Power and RMS Torque

FS
Linear Power = = watts
t
Rotary Power = T ω = watts
2 2 2 2
ΤRMS = Τ1 t 1 + Τ2 t2 + Τ3 t 3 ...+ Τn tn
t 1 + t 2 + t 3 ... + t n + tdwell

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 7 Motion System Formulas
MOTION SYSTEM
FORMULAS

DC Motor Formulas

Motor No Load Speed

VT – (IO x Rmt)
no = 9.5493 x
KE
Assuming IO is very small, it can be ignored for a quick approximation of motor
no-load speed. If more accurate results are needed, IO will also need to be
adjuisted based on the motor Viscous Damping Factor (D v). As the no-load speed
increases with increased terminal voltage on a given motor, IO will also increase
based on the motor’s Dv value found on the manufacturer’s motor data sheet.

Τ Viscous Damping
Torque (Dv)
–––
Breakaway
Torque – ––––––––––––
Coulomb Friction
–––
ο ω
Motor Locked Rotor Current / Locked Rotor Torque
VT
ILR =
Rmt

TLR = ILR x KT
VT
= x KT
Rmt
Motor Regulation
– Theoretical using motor constants
Rmt
Rm = 9.5493 x
KE x KT
– Regulation calculated using test data
nO
Rm =
TLR
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8 Motion System Formulas
MOTION SYSTEM
FORMULAS

Motor Power Relationships

– Watts lost due to winding resistance
2
Ploss = I x Rmt
– Output power at any point on the motor curve

Pout = ω x T
– Motor maximum output power
Pmax = 0.25 x ωo x TLR
– Motor maximum output power (Theoretical)
2
V
Pmax = 0.25 x T
Rmt
Temperature Effects on Motor Constants
– Change in terminal resistance
Rmt(f) = Rmt(i) x [ 1 + αconductor (Θf – Θi) ]
αconductor = 0.0040/°C (copper)
In the case of a mechanically commutated motor with graphite brushes, this
analysis will result in a slight error because of the negative temperature coefficient
of carbon. For estimation purposes, this can be ignored, but for a more rigorous
analysis, the behavior of the brush material must be taken into account. This is not
an issue when evaluating a brushless dc motor.
– Change in torque constant and voltage constant ( KT = KE )
K(f) = K(i) x [ 1 + αmagnet (Θf – Θi) ]

Magnetic Material αmagnet (/°C) Θmax (°C)

Ceramic -0.0020/°C 300°C
SmCo -0.0004/°C 300°C
AlNiCo -0.0002/°C 540°C
NdFeB -0.0012/°C 150°C
The magnetic material values above represent average figures for particular
material classes and estimating performance. If exact values are needed,
consult data sheets for a specific magnet grade.

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 9 Motion System Formulas
MOTION SYSTEM
FORMULAS

Motor Brush Resistance

For PMDC motors (brush type) brush drop can be approximated as a constant
resistance connected in series with the armature winding. This series
resistance is included in the Rmt factor found on manufacturer’s data sheet.

Brush Material Resistance

Copper graphite 0.2 to 0.4 Ω
Silver graphite 0.2 to 0.4 Ω
Electrographite 0.8 to 1.0 Ω

DC Motor Thermal Resistance and Temperature Rise

– Thermal resistance
Temperature Rise °C
Rt h =
Machine Losses W
– Final motor temperature

Θm = Θr + Θa
– Motor temperature rise*

Θr = Rth x I2 x Rmt
– OR – 2
Rth x I x Rmt
Θr =
1 – (Rth x I x Rmt x α)
2

– OR –
2

Θr = Rth x ( ) TC
Km
*Use caution when applying these formulas. Depending on the conditions used
to determine motor specifications, only one formula should be used. Contact
Appications Engineering for questions.

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9 Motion System Formulas
MOTION SYSTEM
FORMULAS

Motor Brush Resistance

For PMDC motors (brush type) brush drop can be approximated as a constant
resistance connected in series with the armature winding. This series
resistance is included in the Rmt factor found on manufacturer’s data sheet.

Brush Material Resistance

Copper graphite 0.2 to 0.4 Ω
Silver graphite 0.2 to 0.4 Ω
Electrographite 0.8 to 1.0 Ω

DC Motor Thermal Resistance and Temperature Rise

– Thermal resistance
Temperature Rise °C
Rt h =
Machine Losses W
– Final motor temperature

Θm = Θr + Θa
– Motor temperature rise*

Θr = Rth x I2 x Rmt
– OR – 2
Rth x I x Rmt
Θr =
1 – (Rth x I x Rmt x α)
2

– OR –
2

Θr = Rth x ( )
TC
Km
*Use caution when applying these formulas. Depending on the conditions used
to determine motor specifications, only one formula should be used. Contact
Appications Engineering for questions.

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 10 Motion System Formulas
MOTION SYSTEM
FORMULAS

Stepper Motor Formulas

– Motor step angle 180

Step Ø =
(phases)(rotor teeth)
– SPS (steps/second) to RPM (revolutions/minute)
(SPS) x (Step Ø)
RPM =
6
– RPM (revolutions/minute) to SPS (steps/second)
(RPM) x 6
SPS =
(Step Ø)
– Travel per step
L
m/step =
positions/rev

Maximum accuracy of a step motor system has nothing to do with maximum

resolution of a step motor system. Maximum accuracy is always based on the
accuracy of 1 full step, but maximum resolution is based on all system components
including lead screw, encoder, stepper motor and step mode on the controller.

– Overdriving capability

Required “Time Off” using an L/R drive (constant voltage drive)

(Applied Voltage)2
Time Off = (Time On) – Time On
(Rated Voltage)
Required “Time Off” using a chopper drive (constant current drive)
(Applied Current)2
Time Off = (Time On) – Time On
(Rated Current)
It is not unusual for a customer to drive Haydon Kerk stepper motors beyond their rated
power to obtain the most force in the smallest package size. Precautions must be taken
to prevent the motor from exceeding its maximum temperature. The “on” time should not
exceed 2 - 3 minutes. As general rule of thumb, driving a motor at 2.5 to 3x its rated
voltage or current may result in wasted energy and erratic behavior due to saturation.
Special notes for can-stack motors:
• more easily saturated due to less active material (steel)
• more iron losses due to unlaminated steel

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11 Motion System Reference Tables
MOTION SYSTEM
REFERENCE TABLES

Lead Screw Performance Characteristics

Increase In Affects Impact Increase In Affects Impact

Screw Critical speed Critical speed

End Mounting
Length Compression load Compression load
Rigidity
Critical speed System stiffness
Inertia Load Life
Screw Compression load Positioning accuracy
Diameter Stiffness Preload System stiffness
Spring Rate Drag torque
Load capacity Load capacity
Nut length
Drive torque Stiffness
Angular velocity Examples:
Lead An INCREASE ( ) in screw length results in a
Load cpacity
DECREASE ( ) in critical speed.
Positioning accuracy
An INCREASE in screw diameter results in an
INCREASE in critical speed.

SI Unit Systems
Quantity Name of Unit Symbol
Base Units
Length meter m
Mass kilogram Kg
Time second s
Electric current ampere A
Thermodynamic temperature kelvin K
Luminous intensity candela cd
Amount of substance mole mol
Derived Units
area square meter m2
volume cubic meter m3
frequency hertz Hz s–1
mass density (density) kilogram per cubic meter Kg/m3
speed, velocity meter per second m/s
angular velocity radian per second rad/s
acceleration meter per second squared m/s2
angular acceleration radian per second squared rad/s2
force newton N Kg-m/s2
pressure (mechanical stress) pascal Pa N/m2
kinematic viscosity square meter per second m2/s
dynamic viscosity newton-second per square meter N-s/m2
work, energy, quantity of heat joule J N-m
power watt W J/s or N-m/s
entropy joule per kelvin J/K
specific heat capacity joule per kilogram kelvin J/Kg-K)
thermal conductivity watt per meter kelvin W/(m-K)

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 12 Motion System Application Example
MOTION SYSTEM
APPLICATION EXAMPLE

Linear Motion Example

Data
Mass 9 Kg Control 4 quadrant with encoder
Move distance 200 mm Drive Power Supply: 32 VDC, 3.5 Arms,
5.0 A peak
Move time 1.0 s
Dwell time 0.5 s
Motion profile 1/3 1/3 1/3 Trapezoidal
Screw speed limit 1000 RPM
Load support μ = 0.01
Orientation Vertical
Rotary to linear conversion TFE lead screw 8 mm diameter 275 mm long
Ambient temperature 30°C

vpk
-a
v
a

t1 t2 t3 t dwell Time
0.333 s 0.333 s 0.333 s 0.5 s

Linear Velocity

3S (3)(0.2m) 0.6m 0.3m

v PK =
2t
=
(2)(1.0 s)
=
2s
=
s

Linear Acceleration

vf - vi 0.3m/s - 0 m/s
a= =
0.333 s
= 0.901m/s2
t
1st step is to thoroughly understand system constraints and motion profile
requirements.

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13 Motion System Application Example
MOTION SYSTEM
FORMULAS

Minimum screw lead to maintain < 1000 RPM shaft speed

60vPK (60)(0.3m/s)
Lmin = = = 0.018m/rev = 18mm/rev
n 1000 rev/min
Refer to Kerk screw chart – closest lead in an 8mm screw diameter is

20.32mm/rev = 0.02032 m/rev

η = 0.86 free wheeling nut,
TFE coated screw
JS = 38.8 x 10– 7 Kg-m2
Other critical lead screw considerations
• Column loading
• Critical speed

Linear to Rotary Conversion

– Velocity, Acceleration, Inertia, Torque

v PK ω PK m J
a a F T
Linear to Rotary Conversion: Velocity

2 π vPK (2π)(0.3m/s)
ω PK =
L
=
0.02032 m/rev
= 92.76 rad/s

Linear to Rotary Conversion: Acceleration

2
2π a (2π)(0.901m/s )
a=
2
= = 278.6 rad/s
L 0.02032 m/rev

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 MOTION SYSTEM
14 Motion System Application Example
FORMULAS

Linear to Rotary Conversion: Inertia

2
L 2 1 0.02032 m 1
Jin= m
2π
X η + JS= 9Kg 2π
X
0.86 + 38.8x10 –7
Kg-m2

= 10.95 X 10
–5
Kg-m2 + 38.8x10– 7 Kg-m2
–5 2
= 11.34 x 10 Kg-m

Linear to Rotary Conversion: Torque

Τin= Τa+Τf +Τg+ΤD

Τa = Jin a in
–5
= (11.34 x 10 Kg-m )(278.6 rad/s )
2 2

= 0.0316 Nm

cos Ø m gμL (cos90)(9 Kg)(9.8m/s2)(0.01)(0.02032m)

Τf = =
2 πη 2 π (0.86)
= 0 Nm

sin Ø m gL (sin90)(9 Kg)(9.8m/s2)(0.02032m)

Τg = =
2 πη 2 π (0.86)
1.792 Nm
= = 0.3316 Nm
5.404
Since a free-wheeling lead screw nut was used, there is no preload force.
ΤD = 0 Nm If an anti-backlash nut was used, ΤD would be >0 due to preload force.
Always reference manufacturer’s data for more information.

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15 Motion System Application Example
MOTION SYSTEM
APPLICATION EXAMPLE

Rotary Motion Profile

ω Τ Τ2
1 Τ3
t1 t2 t3 t dwell Time
0.333 s 0.333 s 0.333 s 0.5 s

ω PK = 92.76 rad/s a= 278.6 rad/s2

Τ1= Τa+Τf +Τg+ΤD

= (0.0316 Nm) + (0 Nm) + (0.3316 Nm) + (0 Nm)

= 0.3632 Nm

Τ2= Τa+Τf +Τg+ΤD

= (0 Nm) + (0 Nm) + (0.3316 Nm) + (0 Nm)
= 0.3316 Nm

Τ3= Τa+Τf +Τg+ΤD

= (0.0316 Nm) + (0 Nm) + (0.3316 Nm) + (0 Nm)
= 0.3632 Nm

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 16 Motion System Application Example
MOTION
APPLICATION
SYSTEM
EXAMPLE

Lead Screw Input Requirements

ωPK = 92.76 rad/s

a = 278.6 rad/s2
Τ1 = 0.3632 Nm PPK = (Τ1)(ωPK)
Τ2 = 0.3316 Nm
= (0.3632 Nm)(92.76 rad/s)
Τ3 = – 0.3632 Nm
t1 = 0.333 s = 33.69 W
t2 = 0.333 s
t3 = 0.333 s
PCV = (Τ2)(ωPK)
tdwell = 0.5 s = (0.3316 Nm)(92.76 rad/s)
PPK = 33.69 W
= 30.76 W
PCV = 30.76 W

RMS Torque Requirement @ Lead Screw Input

ΤRMS = Τ12t 1 + Τ22t2 + Τ32t 3

t 1 + t 2 + t 3 + tdwell
= 2 2 2
(0.3632 Nm) (0.333 s)+(0.3316 Nm) (0.333 s)+(- 0.3632 Nm) (0.333 s)
0.333 s + 0.333 s + 0.333 s + 0.5 s

= 0.0439 + 0.0366 + 0.0439 =

0.0829
1.5

ΤRMS = 0.2879 Nm

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17 Motion System Application Example
MOTION
APPLICATION
SYSTEM
EXAMPLE

Load Parameters at the Lead Screw Shaft

ωPK = 92.76 rad/s

a = 278.6 rad/s2 Motor Transmission
Lead Screw /
Support Rails

Τ1 = 0.3632 Nm M
Τ2 = 0.3316 Nm
Τ3 = – 0.3632 Nm ΤRMS = 0.2879 Nm
ΤRMS = 0.2879 Nm PPK = 33.69 W
PPK = 33.69 W ωPK = 92.76 rad/s
PCV = 30.76 W Other Motor Considerations
– Type: stepper, brush, BLDC
– Input speed (high input speed will result in high noise levels)
– Total motor footprint
– Ambient temperature
– Environmental conditions
– Load-to-rotor inertia
– Encoder ready needed

Motor Selection
A direct-drive motor can be used, however, it would be large and expensive. For
example, a DC057B-3 brush motor...
...would easily meet continuous torque and continuous speed, as well as a 1.8:1
load-to-rotor inertia. This motor, however, has significantly more output power than
needed at 128 watts.
A smaller motor with a transmission would optimize the system. Look for a motor starting
at a rated power around 40 watts... Pittman DC040B-6

DC040B-6
Reference Voltage 24.0 V
Continuous Torque 0.0812 Nm
Rated Current 2.36 A
Rated Power 37 W
Torque Constant 0.042 Nm/A
Voltage Constant 0.042 V/rad/s
Terminal Resistance 1.85 Ω
Max. Winding Temperature 155°C
Rotor Inertia 8.47 x 10–6 Kg-m2

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 18 Motion System Application Example
MOTION SYSTEM
APPLICATION EXAMPLE

Gearbox / Transmission Selection

When selecting a reduction ratio, keep in mind that the RMS required torque at the
motor shaft needs to fall below the continuous rated output torque of the motor.

G30 A - Planetary Gearbox

Maximum output load 2.47 Nm

T RMS(@ Lead Screw) Reduction Efficiency TRMS(@ Motor)

0.2879 Nm 4:1 0.90 0.0798 Nm
0.2879 Nm 5:1 0.90 0.0640 Nm
0.2879 Nm 6:1 0.90 0.0533 Nm

A 5:1 gearbox would allow about a 27% safety margin between what the system
requires and the continuous torque output of the motor.

System Summary 5:1

η = 0.90

Τ1 = 0.0807 Nm Τ1 = 0.3632 Nm
Τ2 = 0.0737 Nm Τ2 = 0.3316 Nm
Τ3 = – 0.0807 Nm Τ3 = – 0.3632 Nm
ΤRMS= 0.0640 Nm ΤRMS= 0.2879 Nm
ω PK = 463.8 rad/s ω PK = 92.76 rad/s
J = 5.04 x 10 6 Kg-m2 J = 11.34 x 10 5 Kg-m2
– –

PPK = 37.43 W PPK = 33.69 W

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 MOTION SYSTEM
APPLICATION EXAMPLE
Motion Profile at the Motor

ω Τ2
Τ1 Τ3 ω PK = 463.8 rad/s
nPK = 4429 RPM
Τ1 = ΤPK = 0.0807 Nm
t1 t2 t3 t dwell Time
0.333 s 0.333 s 0.333 s 0.5 s

Drive and Power Supply Requirements

Peak Current Required

TPK 0.0807 Nm
IPK = + IO = + 0.180 A = 2.10 A
KT 0.042 Nm/A
RMS Current Required

TRMS 0.0640 Nm
IRMS = + IO = + 0.180 A = 1.70 A
KT 0.042 Nm/A
Minimum bus Voltage Required

Vbus= IPKRmt+ ωPKKE = (2.10A)(1.85Ω) + (463.8 rad/s)(0.042 V/rad/s)

= 3.89 V + 19.48 V
= 23.37 V
Performance using 24V reference voltage
7000
6000 TRMS
5000
TPK
RPM 4000
24 VD
C
3000
2000
1000

0.100 Nm 0.200 Nm 0.300 Nm 0.400 Nm 0.500 Nm 0.600 Nm 0.700 Nm

Performance using a 30V bus voltage

7000
6000 TRMS
30 VD TPK
5000 C
RPM 4000
3000
2000
1000

0.100 Nm 0.200 Nm 0.300 Nm 0.400 Nm 0.500 Nm 0.600 Nm 0.700 Nm

A 30 VDC bus will meet the application requirements as wells supply a margin of safety.

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 RPM 4000
3000
2000
1000

0.100 Nm 0.200 Nm 0.300 Nm

MOTION SYSTEM
0.400 Nm 0.500 Nm 0.600 Nm
0.700 Nm
APPLICATION EXAMPLE
A 30 VDC bus will meet the application requirements as wells supply a margin of safety.

Will the motor meet the temperature rise caused by the application?
Ambient temperature ......... Θa = 30°C
Rated motor temperature ... Θrated = 155°C
Temperature rise ............... Θr = 76.38°C
Motor temperature ............. Θm = 106.38°C

Rth x I RMS2 x Rmt

Θr =
1 – ( R th x I RMS x R mt x 0.00392/°C )
2

11°C/ω x 1.70A 2 x 1.85 Ω

=
1 – ( 11°C/ω x 1.70A x 1.85 Ω x 0.00392/°C )
2

58.81 58.81
= = = 76.38°C
1 – (0.23) 0.77
Θm = Θr + Θa = 76.38°C + 30°C = 106.38°C

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