1、内容简介
略
583-可以交流、咨询、答疑
2、内容说明
略
3、分析
close all
%%
sim("model2019a.mdl")
timePa = out.pa.Time;
pa = out.pa.Data;
timePb = out.pb.Time;
pb = out.pb.Data;
figure
plot(timePa,pa)
figure
plot(timePb,pb)
t = timePa;
A=0.000490625;
m = 0.51;
% Ff = 30;
a = zeros(1,length(timePa));
v = zeros(1,length(timePa));
v(1) = 0; % 速度初值
s = zeros(1,length(timePa));
s(1) = 150; % 位移初值
sigma = 0.31;
ys_dot = 3.27;
Fs = 35.48;
Fc = 15.31;
Ff = zeros(1,length(timePa));
for i = 2:length(a)
% Fp=A*(pa(i)-pb(i));
part1 = sigma*v(i-1);
part2 = sign(v(i-1));
part3 = Fc+(Fs-Fc)*exp(-(v(i-1)/ys_dot)^2);
Ff(i) = part1+part2*part3;
% if abs(v(i-1))<=sigma
a(i)=((A*(pa(i)-pb(i)))-Ff(i))/m;
v(i)=v(i-1)+a(i)*(t(i)-t(i-1));
s(i)=s(i-1)+aa1(i)*(t(i)-t(i-1));
if s(i)<0 || s(i)>200
if s(i)<0
s(i)=0;
else
s(i)=200;
end
v(i)=0;
a(i)=0;
elseif s(i)==0
v(i) = 0;
s(i) = 0;
if A*(pa(i)-pb(i))>=Ff
a(i) = ((A*(pa(i)-pb(i)))-Ff)/m;
else
a(i) = 0;
end
elseif s(i)==200
v(i) = 0;
s(i) = 200;
if A*(pa(i)-pb(i))<=-Ff
a(i) = ((A*(pa(i)-pb(i)))+Ff)/m;
else
a(i) = 0;
end
end
end
%%
figure
plot(timePa,a)
xlabel time/s
ylabel 加速度
figure
plot(timePb,v)
xlabel time/s
ylabel 速度
figure
plot(timePb,s)
xlabel time/s
ylabel 位移
figure
plot(timePb,Ff)
xlabel time/s
ylabel 摩擦力
4、参考论文
《气动伺服系统分析与控制》--柏艳红[著]--2014.12.pdf
