Experiment4.60: Response of Prototype At Constant Torque

Empirical Demonstration of the Angular Momentum Dependence of the Prototype's Behavior

Here is a short film showing clips from the crucial experiments cited in the graphs in the previous post. The short introductory text in the film explains exactly which of the experiments is shown. Corrigendum: The set of experiments labeled to be @ 8Amperes in the previous chart were actually conducted at 7 Amperes. This became clear after some investigation. I investigated it because I became suspicious of how close to the 6 Ampere graphs, the '8 Ampere' graphs looked and realized that they were infact at 7 Amperes. Nonetheless, the important thing is that they continue to confirm the angular momentum dependency that is being demonstrated by the prototype!

Trend Continues At 8 Amperes of Torque

As you can see from the graphs, the greatest amount of impedance seems to be right around the 3000 RPM mark.

Trend Confirmed At 50% Higher Torque (6 Amperes)

Intent upon confirming the results of the experiments @ 4 Amperes, I put in a mammoth day with the experiments and reran the entire set (well, almost) but this time at 50% higher power in put, i.e. @ 6 Amperes.

Here is a plot combining the last set of graphs with the new set of graphs so that we can see side-by-side, the behavior of the imbalance in the rotations in the CCW (counterclockwise) and the CW (clockwise) directions, on the left for a maximum torque of 4 Amperes and on the right for a maximum torque of 6 Amperes. As can be seen from the plot, the trend for the 6 Amperes is similar to the 4 Amperes scenario, with some quirks of its own. The most negative zone seems to be between 3000 & 3500 RPM for the 4 Ampere case. The most negative zone seems to be between 2500 & 3000 RPM for the 6 Ampere case.

Existence of Inflection Point Has Been Determined

The following graph has been plotted from the data from the previous post. (The 2000 RPM and 2500 RPM data are new and are from experiments conducted since my last post.)

The data points are generated by a simple formula:

(Number of Counterclockwise Rotations in the cycle - Number of Clockwise Rotations in the cycle)

Please note that)

a) The first cycle is a sinusoid @ Maximum of 1 Ampere.

b) The second cycle is a sinusoid @Maximum of 2 Amperes.

c) The third to tenth cycles are sinusoids @ Maximum of 4 Amperes.

I've already noted most of the trends seen here, except for one important one: As we increase the speed of the wheels, and perform the same experiment over and over again, we notice an inflection point around 3000 RPM when the system experiences the most clockwise rotations. 

On either side of this speed (3000 RPM), we see that that number of CCW rotations exceeds the number of CW rotations significantly, but while in the inflection zone the number of CW rotations exceeds the number of CCW rotations significantly! 

This inflection in a zone of speed where the CW rotations exceed CCW rotations is a sign of that the saturation point indeed exists.