邹德阳等竞赛论文.pdf

250100 AMS 2000 65P99 TB115 A 1 1 2 3 4 1 2 5 6 7 8 9 2 J kg m2 J0 kg m2 rad s I A T s Mz N m M k d k N m M k z k N m 0 rad s k kT rad s 3 3 1 G v g 1 2 G g v2 1 2 J 2 1 v r G 6230N r 0 286m J Gr2 g 6230 0 2862 9 8 52 00kg m2 3 2 h r0 r1 2 J ZZZ M r2dm ZZZ V r2dV 2 h Z r1 r0 r3dr 1 2 h r 4 1 r 4 0 2 0 0392m J1 1 2 7810 0 0392 0 5 4 0 14 30kg m2 3 0 0784m J2 2J1 60kg m2 0 1568m J3 4J1 120kg m2 8 10kg m2 40kg m2 70kg m2 100kg m2 130kg m2 160kg m2 190kg m2 220kg m2 30 30 kg m2 52kg m2 40kg m2 70kg m2 12kg m2 18kg m2 3 3 1 2 X M J d dt 3 Mz J d dt 4 J0 Mz Md J0 d dt 5 4 5 Md J0 J d dt 6 4 6 Md J0 J 1 Mz 7 1 5A N m I 1 5Md 1 5 J0 J d dt 8 I 1 5Md 1 5 J0 J 1 Mz 9 2 v0 50km h t 5 0 I I 1 5 J0 J d dt 1 5 J0 J dv rdt 1 5 J0 J v0 rt 174 825A 4 3 4 2 X W 1 2J 2 1 2J 2 0 10 Wz 1 2J 2 1 2J 2 0 1 2 48 2 257 60 2 2 514 60 2 52150 29J 2 Wr Z b a Mz t t dt 11 f t Mz t t 1 Wr Z b a f t dt n X i 1 Z ti ti 1 f t dt h 2 f a 2 n 1 X i 1 f ti f b 12 t0 a tn b h ti 1 ti h 0 01s a 0s b 4 67s ti Matlab Wr 49242 29J E Wr Wz 2908J E Wz 5 576 3 5 T M k d k M k z k 0 k kT Ik k 3 5 1 8 I 1 5Md 1 5 J0 J d dt 5 M k d J0 J k k 1 T M k d J0 J k 1 k 2 T 13 k Ik 1 5M k d 1 5 J0 J k 1 k 2 T 14 k 2 3 n 1 n n 3 5 2 9 I 1 5Md 1 5 J0 J 1 Mz Ik 1 5M k d 1 5 J0 J 1 M k 1 z 15 k 2 3 n 1 n n 3 5 3 1 5 Mz Md J0 d dt k Mk z k M k z T M k d T J0 k k 1 16 13 16 kT k 2 J J0 k 1 J J0 1 k 2 M k z T J0 17 k W k z 1 2J 2 k 1 2J 2 0 18 6 k W k r k X i 1 Z iT i 1 T M i z t i t dt 19 i M i z W k r k X i 1 M i z t Z iT i 1 T i t dt k X i 1 M i z t i 1 i 2 T 20 17 18 20 2 15 16 kT k k 1 T J0 J0 J 1 M k 1 z M k z 21 18 20 00 511 522 533 544 55 500 550 600 650 700 750 t s absolate error 00 511 522 533 544 55 0 5 10 15 20 25 t s relative error 1 7 J 52kg m2 J0 40 m2 r 0 286m t 5s v0 50km h 1 T 0 1s Mz 505N m Matlab 1 2 00 511 522 533 544 55 726 2308 726 2308 726 2308 726 2308 726 2308 726 2308 absolate error J t s 00 511 522 533 544 55 0 5 10 15 20 25 t s relative error 2 3 6 3 6 1 8 M k b k M k c k M k c M k d M k b 22 M k l kT M k b M k 1 l M k 1 d 23 7 M k 1 l J0 J 1 M k 1 z 24 15 M k d J0 J 1 M k 1 z 23 24 15 22 M k c M k d M k b 2 J0 J 1 M k 1 z M k 1 d 25 k 1 M k 1 z M k 1 d J0 k 1 k 2 T 26 25 26 M k c I k c 1 5M k c 1 5 2J 0 J 1 M k 1 z J0 k 1 k 2 T 27 Matlab 3 6 2 22 15 M k c M k d M k b M k d J0 J 1 M k 1 z M k b M i z i i l i M i z J i l i 1 l T 28 9 i 1 k 1 k 1 X i 1 M i z J k 1 l 0 l T 29 k 1 l 0 l T j k 1 X i 1 M i z 30 Mk b J0 k 1 l k 1 T 31 M k c M k d M k b J0 J 1 Mk 1 z J0 0 l T j Pk 1 i 1 M i z k 1 T 32 I k c 1 5M k c 1 5 J0 J 1 Mk 1 z J0 0 l T j Pk 1 i 1 M i z k 1 T 33 Matlab 3 00 511 522 533 544 55 0 2 4 6 8 10 12 t s relative error 00 511 522 533 544 55 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 t s relative error method 1 method 2 3 1 Richard L Burden J Douglas Faires M 2008 2 M 2007 3 M 2005 4 J 26 1997 6 58 60 Analysis on Control Methods of Brake Test Bench Deyang ZOU Yang ZHAO Dejian CHANG School of Mathematics Shandong University Jinan 250100 Abstract In this paper some control methods of brake test bench are established Firstly according to the diff erential equation about fi xed axis rotation rule of rigid body two mathematical models are derived based on the relationship between the motor drive current and observable quantities Then under the hypothesis of constant deceleration in each time interval two control methods of current are given based on the instantaneous angular velocity and torque respectively Moreover two improved control methods are given by compensating