: : 2902077 2902115 2902083 2902102 1
Matlab Simulink HyPneu Matlab Simulink HyPneu 2
... i... ii... 1... 3 2-1... 3 2-2... 4 2-3... 5... 8... 10 4-1 Simulink... 10 4-2 HyPneu... 19 Matlab-Simulink HyPneu... 28 5-1 Simulink... 28 5-2 HyPneu... 31... 36... 37 3
4
5 [2] [3] [4] [5] [6]
6 (road shocks)
m s m t k t k s 7
8
9
10
11 (E) C 0 = ΣF ma F =
ΣF = 0 F F + F = 0 s + c k F = ma = m x& s s F = C E)( x& x& ) c ( s t F = k x x ) m s k ( s t s x& C( E)( x& x& ) + k ( x x ) = 0 s + s t s s t ΣF = 0 F F F + F = 0 t c k r F = ma = m & x t t F = C E)( x& x& ) c ( s t F = k x x ) k s ( s t t F = k x x ) t t s r t t ( t r m x& C( E)( x& x& ) k ( x x ) + k ( x x ) = 0 s s 1 x& s = [ C( E)( x& s x& t ) + k s ( xs xt )] m s 1 x& t = [ C( E)( x& s x& t ) + ks ( xs xt ) kt ( xt xr )] m t t t t r 12
() Simulink Window 13
() -- Gain () Step 14
() Sum () XY Graph 15
() Scope () 16
() (12)(13) (12)(13) C( E)( x& s x& t ) + k s ( xs xt ) (subsystem) Ms Mt 17
(b) 0 0 ( & & = In1= x x ) 0 s In1= x x ) 0 t ( & & = s t 18
k x x ) t ( t r 1 x r ( xt xr ) 2 x t k t ( xt xr ) 19
20
() RUN 21
22 4-2-1 HyPneu HyPneu ''''
4-2-2 HyPneu HyPneu. () HyPneu Window 23
() 1.Hydraulic() 2.Pneumatic() 3.Mechanical() 4.Instrument() 5.Electrical() 6.Others() () 1.Inertia() 2.Spring() 3.Damper( ) 4.Friction() 5.Lumped 6.Linkage() 7.Accessories() 24
() Translation= Rotational= () 25
() () 1.Inertia() 2.Spring() 3.Damper( ) 4.Friction() 5.Lumped 6.Linkage() 7.Accessories() 26
() Translatio = Rotational = General = Vector = () 27
() ( ) 28
( ) ( ) 29
( ) 30
Simulink HyPneu Simulink HyPneu Ms=240 kg Mt=36 kg Ks=16320 N/m Kt=163200 N/m C 5-1 Simulink Simulink (a) Ms=240 kg Mt=36 kg Ks=16320 N/m Kt=163200 N/m C=716 N*s/m ts=0 sec, tf=0.1 sec, h=1 cm (1 1 unit) (cm) (sec) 31
Ms=240 kg Mt=36 kg Ks=16320 N/m Kt=163200 N/m C=2505 N*s/m ts=0 sec, tf=0.1 sec, h=1 cm (cm) (sec) Ms=240 kg Mt=36 kg Ks=16320 N/m Kt=163200 N/m C=716 N*s/m ts=0 sec, tf=10 sec, h=1 cm (cm) (sec) 32
Ms=240 kg Mt=36 kg Ks=16320 N/m Kt=163200 N/m C=2505 N*s/m ts=0 sec, tf=10 sec, h=1 cm (cm) (cm) Ms=240 kg Mt=36 kg Ks=16320 N/m Kt=163200 N/m C=3222 N*s/m (sec) ts=0 sec, tf=10 sec, h=1 cm (sec) 33
5-2 HyPneu HyPneu ms mt C ks kt Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in) C= 716 N*s/m (4 lbf*sec/in) (Input signal) : (step function)ts = 0 sec,tf = 10 sec,h=1 cm ( 1 unit) Input out vel out disp 34
Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c=2505 N*s/m (14 lbf*sec/in) (Input signal) : (step function) ts = 0 sec, tf = 10 sec, h=1cm ( 1 unit) Input out vel out disp Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c=3222 N*s/m (18 lbf*sec/in) (Input signal) : (step function)ts = 0 sec,tf = 10 sec,h=1cm ( 1 unit) Input out vel out disp 35
Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c= 716 N*s/m (4 lbf*sec/in) (Input signal) : (step function) ts = 0 sec, tf = 0.1 sec, h=1 cm ( 1 unit) Input out vel out disp Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c=2505 N*s/m (14 lbf*sec/in ) (Input signal) : (step function) ts = 0 sec, tf = 0.1 sec, h= 1 cm ( 1 unit) Input out vel out disp 36
Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c=716 N*s/m (4 lbf*sec/in) (Input signal) : (step function) ts = 0 sec, tf = 10 sec, h=5 cm ( 5 unit) Input out vel out disp Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c=3222 N*s/m (10 lbf*sec/in ) (Input signal) : (step function) ts = 0 sec, tf = 10 sec, h=5 cm ( 5 unit) Input out vel out disp 37
Ms=240 kg( 528 lbm)mt=36 kg (79.2 lbm)ks=16320 N/m (91.2 lbf/in) Kt=163200 N/m (912 lbf/in)c=3222 N*s/m (18 lbf*sec/in) (Input signal) : (step function) ts = 0 sec, tf = 10 sec, h=5 cm ( 5 unit) HyPneu Real Time Simulator 10 10 8 6 4 out disp (in) 2 0-2 input sig (sgnl) 0-4 -6-8 -10-10 0 1.5 3 4.5 6 7.5 9 10.5 12 13.5 15 16. Time (sec) Input out vel out disp 38
39
40
41