第十章-机电系统仿真举例2

第十章机电系统仿真举例,本章主要内容如下：10.6由质量，弹簧和阻尼器组成的系统10.7有单摆滑块在斜面上的运动仿真10.8两连杆平面机器人仿真,10.6由质量，弹簧和阻尼器组成的系统,functionout=pownacc(u)%由集中质量，弹簧和阻尼器组成的系统。%u(1)=F(t)%u(2)=v(t)%u(3)=x(t)m=1b=2k=3out(1)=1/m*(u(1)-b*u(2)-k*u(3)out(2)=b*u(2)2,系统功率与能量,系统响应,10.7有单摆滑块在斜面上的运动仿真假设滑块摆系统初始时刻是静止的，图中滑块的中心在坐标原点的正上方1m处，摆处于与铅垂方向夹角45度的位置。,functionout=rampsliderp(u)%u(1)=x-dot%u(2)=y-dot%u(3)=omega-p%u(4)=theta-p%ms=5gamma=30*pi/180mu=0.5g=9.8687rp=0.5mp=0.5Ip=0.01%,函数文件,sdot=u(1)*cos(gamma)-u(2)*sin(gamma)ifsdot0sigma=1elsesigma=-1end%Cp=cos(u(4)Sp=sin(u(4)a=zeros(8,8)a(1,1)=ms;a(1,6)=sigma*mu*cos(gamma)-sin(gamma);a(1,7)=1a(2,2)=ms;a(2,6)=-(sigma*mu*sin(gamma)+cos(gamma);a(2,8)=1a(3,3)=mp;a(3,7)=-1,a(4,4)=mp;a(4,8)=-1a(5,5)=Ip;a(5,7)=-rp*Sp;a(5,8)=rp*Cpa(6,1)=1;a(6,3)=-1;a(6,5)=-rp*Spa(7,2)=1;a(7,4)=-1;a(7,5)=rp*Cpa(8,1)=sin(gamma);a(8,2)=cos(gamma)%b=0;-ms*g;0;-mp*g;0;rp*u(3)2*Cp;rp*u(3)2*Sp;0%out=inv(a)*bout=out;sdot,模型文件,滑块位置,摆的位置,摩擦力,正压力,10.8两连杆平面机器人仿真,最终的动力学仿真要求具有两个输入参数，即由两个电动机所产生的扭矩。,functionout=robot(u)%u(1)=omega-1u(2)=theta-1%u(3)=omega-2u(4)=theta-2%u(5)=Torque-1u(6)=Torque-2%g=9.8067;%r1=1.0;rc1=0.5;r2=0.8;rc2=0.1;m1=2.5;m2=1.8;I1=0.15;I2=0.05;%mp1=2.0;,函数文件,S1=sin(u(2);S12=sin(u(2)+u(4);C1=cos(u(2);C12=cos(u(2)+u(4);%a=zeros(14,14);b=zeros(14,1);%a(1,1)=r1*S1+r2*S12;a(1,2)=r2*S12;a(1,7)=1;a(2,1)=-r1*C1-r2*C12;a(2,2)=-r2*C12;a(2,8)=1;a(3,1)=rc1*S1;a(3,3)=1;a(4,1)=-rc1*C1;a(4,4)=1;a(5,1)=r1*S1+rc2*S12;a(5,2)=rc2*S12;a(5,5)=1;a(6,1)=-r1*C1-rc2*C12;a(6,2)=-rc2*C12;a(6,6)=1;a(7,3)=-m1;a(7,9)=1;a(7,11)=1;a(8,4)=-m1;a(8,10)=1;a(8,12)=1;,a(9,1)=I1;a(9,11)=r1*S1;a(9,12)=-r1*C1;a(10,5)=-m2;a(10,11)=-1;a(10,13)=1;a(11,6)=-m2;a(11,12)=-1;a(11,14)=1;a(12,2)=I2;a(12,11)=rc2*S12;a(12,12)=-rc2*C12;a(12,13)=(r2-rc2)*S12;a(12,14)=-(r2-rc2)*C12;a(13,7)=mp1;a(13,13)=1;a(14,8)=mp1;a(14,14)=1;%b(1)=-(r1*C1+r2*C12)*u(1)2+r2*C12*u(3)2+2*r2*u(1)*u(3)*C12);b(2)=-(r1*S1+r2*S12)*u(1)2+r2*S12*u(3)2+2*r2*u(1)*u(3)*S12);b(3)=-rc1*C1*u(1)2;b(4)=-rc1*S1*u(1)2;,b(5)=-(r1*C1+rc2*C12)*u(1)2+rc2*C12*u(3)2+2*rc2*u(1)*u(3)*C12);b(6)=-(r1*S1+rc2*S12)*u(1)2+rc2*S12*u(3)2+2*rc2*u(1)*u(3)*S12);b(8