Tallers i Mu Link 2011

7/25/2019 Tallers i Mu Link 2011

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mx+cx+kx = f(t),

m

c

k

f(t)

x1 = x x2 = x

x1 = x2

x2 = 1

mf(t)

c

mx2

k

mx1


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\


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\

0 0.5 1 1.5 2 2.5 30

0.005

0.01

0.015

0.02Posicion de la masa [x]

tiempo [s]

posicion[m]

0 0.5 1 1.5 2 2.5 30.05

0

0.05

0.1

0.15Velocidad de la masa [dx]

tiempo [s]

velocidad[m/s]


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x

x= fm c

mx k

mx


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x

x

\


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+

f

m

\


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f

m

x

d2x

dt2

= x

d2xdt2

dxdt

= x x dx

dt = x

x dxdt

= x

\

+ +


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m= 2,5 [kg] c= 10 Nsm

k= 250 N m f= 3 [N]

x

\


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\

\

5 0,001


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0 1 2 3 4 50

0.002

0.004

0.006

0.008

0.01

0.012

0.014

tiempo [s]

posicin[m]

Grfica de la posicin respecto al tiempo del cuerpo rgido

posicin

f x dx

ddx


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\

\


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mszs+cs(zs zu) +ks(zs zu) = 0,

muzu cs(zs zu) ks(zs zu) +kt(zu r) = 0,

ms mu

cs ks kt

zs zu

zr

zs zu

zs = cs

ms(zs zu)

ks

ms(zs zu)

zu =

cs

mu (zs zu) +

ks

mu (zs zu)

kt

mu (zu zr)


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\

\


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0 1 2 3 4 510

5

0

5

10aceleracin vertical del auto

tiempo [s]

aceleracin[m/s2]

0 1 2 3 4 50.02

0.01

0

0.01

0.02

0.03

0.04

0.05posicin vertical del auto

tiempo [s]

posicin[m]

0 1 2 3 4 50.04

0.02

0

0.02

0.04

0.06deflexin de la suspensin

tiempo [s]

deflexin[m]

0 1 2 3 4 50.03

0.02

0.01

0

0.01

0.02

0.03

0.04deflexin del neumtico

tiempo [s]

deflexin[m]


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(M+m)x mL cos +mL2 sen = f,

(I+ mL2) mLx cos +mgL sen = 0,

M m I

L

f x

x

x = 1

(M+m m cos2 )[f mgcos sen mL sen ]

= 1

L(M+ m m cos2 )[cos f mL2 cos sen (M+ m)g sen ]


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0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50

0.05

0.1

0.15

0.2posicin de la cabeza de la gra

tiempo [s]

desplazamiento[m]

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50

1

2

3

4

5x 10

3 posicin angular de la carga

tiempo [s]

desplazamientoangu

lar[rad]

2 [N]


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D(q)q + C(q, q)q= , q= [q1 q2]T = [1 2]

T

D(q) =

d11 d12d21 d22

, C(q, q) =

c11 c11c21 c22

, =

12

d11 = m1l2

c1+m2(L2

1+l2c2+ 2L1lc2cos 2) +I1+I2

d12 = m2l2

c2+m2L1lc2cos 2+I2

d21 = d12

d22 = m2lc2+I2

h = m2L1lc2sen 2

c11 = h2

c12 = h2+h1

c21 = h1

c22 = 0

m1 m2 I1 I2

L1 L2 lc1 lc2

1 2

12

= 1

d11d22 d12d21

d22 d12d21 d11

c111+c11 2c211+c22 1

12


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LCeo+RCeo+eo = ei

L R C ei

eo


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Ladia

dt +Raia+ke = Va

Jd

dt +B = kmia L

La Ra J B

ke km

ia L Va


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Tallers i Mu Link 2011

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