汽車(chē)系統(tǒng)動(dòng)力學(xué)Matlab

汽車(chē)系統(tǒng)動(dòng)力學(xué)Matlab作業(yè)報(bào)告小組成員：一、組內(nèi)任務(wù)分配二、Matlab程序與圖形1、不同轉(zhuǎn)向特性車(chē)輛在不同車(chē)速下的系統(tǒng)特征根m=1000;I=1500;a1=1.15;b1=1.35;Caf=53000;Car=53000;i=1;R=[];foruc=10:5:100;D=(I*(Caf+Car)+m*(a1^2*Caf+b1^2*Car))/(m*I*uc);S=(a1+b1)^2*Caf*Car/(m*I*uc^2)+(b1*Car-a1*Caf)/I;P=[1DS];r=roots(P);R(i,1)=r(1,1);R(i,2)=r(2,1);i=i+1;endplot(real(R(:,1)),imag(R(:,1)),'bo');holda2=1.25;b2=1.25;t=1;S=[];foruc=10:5:100P=[m0;0I];Q=[(Caf+Car)/uc,m*uc+(a2*Caf-b2*Car)/uc;(a2*Caf-b2*Car)/uc,(a2^2*Caf+b2^2*Car)/uc];R=[Caf;a2*Caf];A=-P^(-1)*Q;d=eig(A);i=imag(d);r=real(d);S(t,1)=r(1);S(t,2)=i(1);t=t+1;endplot(S(:,1),S(:,2),'*')a3=1.35;b3=1.15;foruc=10:5:100P=[m0;0I];Q=[(Caf+Car)/uc,m*uc+(a3*Caf-b3*Car)/uc;(a3*Caf-b3*Car)/uc,(a3^2*Caf+b3^2*Car)/uc];R=[Caf;a3*Caf];A=-P^(-1)*Q;d=eig(A);i=imag(d);r=real(d);S(t,1)=r(1);S(t,2)=i(1);t=t+1;endgridonplot(S(:,1),S(:,2),'d');axis([-14203]);xlabel('實(shí)軸(Re)');ylabel('虛軸(Im)');text(-8,2.8,'缺乏轉(zhuǎn)向');text(0,0.2,'過(guò)多轉(zhuǎn)向');text(-3,0.2,'中性轉(zhuǎn)向')set(gca,'FontName','Helvetica','FontSize',10)title(['不同轉(zhuǎn)向特性車(chē)輛在不同車(chē)速下的系統(tǒng)特征根'],'FontSize',12);、具有不同轉(zhuǎn)向特性車(chē)輛的橫擺角速度幅頻和相頻響應(yīng)m=1000;I=1500;a1=1.15;a2=1.25;a3=1.35;b1=1.35;b2=1.25;b3=1.15;Caf=53000;Car=53000;D=[];C=[];M=[];uc=20;i=1;forf=0.1:0.1:10w=2*pi*f;E=[10;01];P=[m0;0I];R1=[Caf;a1*Caf];R2=[Caf;a2*Caf];R3=[Caf;a3*Caf];Q1=[(Caf+Car)/ucm*uc+(a1*Caf-b1*Car)/uc;(a1*Caf-b1*Car)/uc(a1^2*Caf+b1^2*Car)/uc];Q2=[(Caf+Car)/ucm*uc+(a2*Caf-b2*Car)/uc;(a2*Caf-b2*Car)/uc(a2^2*Caf+b2^2*Car)/uc];Q3=[(Caf+Car)/ucm*uc+(a3*Caf-b3*Car)/uc;(a3*Caf-b3*Car)/uc(a3^2*Caf+b3^2*Car)/uc];A1=-inv(P)*Q1;A2=-inv(P)*Q2;A3=-inv(P)*Q3;B1=inv(P)*R1;B2=inv(P)*R2;B3=inv(P)*R3;Hw1=-inv(A1-1i*w*E)*B1;Hw2=-inv(A2-1i*w*E)*B2;Hw3=-inv(A3-1i*w*E)*B3;D(i,1)=angle(Hw1(2))*180/pi;D(i,2)=abs(Hw1(2));C(i,1)=angle(Hw2(2))*180/pi;C(i,2)=abs(Hw2(2));M(i,1)=angle(Hw3(2))*180/pi;M(i,2)=abs(Hw3(2));i=i+1;endsubplot(2,1,1)f=0.1:0.1:10;semilogx(f,D(:,2),'k',f,C(:,2),'r-.',f,M(:,2))gridonset(gca,'Xtick',[0.1,0.3,1.5,3,10])set(gca,'FontName','Helvetica','FontSize',10)legend('缺乏轉(zhuǎn)向','中性轉(zhuǎn)向','過(guò)多轉(zhuǎn)向')title(['具有不同轉(zhuǎn)向特性車(chē)輛的橫擺角速度幅頻響應(yīng)'],'FontSize',12);xlabel('頻率/Hz')ylabel('橫擺角速度增益/{(°/s)/(°)}')subplot(2,1,2)f=0.1:0.1:10;semilogx(f,D(:,1),'k',f,C(:,1),'r-.',f,M(:,1))m=1000;I=1500;a1=1.15;a2=1.25;a3=1.35;b1=1.35;b2=1.25;b3=1.15;Caf=53000;Car=53000;D=[];C=[];M=[];uc=20;i=1;forf=0.1:0.1:10w=2*pi*f;E=[10;01];P=[m0;0I];R1=[Caf;a1*Caf];R2=[Caf;a2*Caf];R3=[Caf;a3*Caf];Q1=[(Caf+Car)/ucm*uc+(a1*Caf-b1*Car)/uc;(a1*Caf-b1*Car)/uc(a1^2*Caf+b1^2*Car)/uc];Q2=[(Caf+Car)/ucm*uc+(a2*Caf-b2*Car)/uc;(a2*Caf-b2*Car)/uc(a2^2*Caf+b2^2*Car)/uc];Q3=[(Caf+Car)/ucm*uc+(a3*Caf-b3*Car)/uc;(a3*Caf-b3*Car)/uc(a3^2*Caf+b3^2*Car)/uc];A1=-inv(P)*Q1;A2=-inv(P)*Q2;A3=-inv(P)*Q3;B1=inv(P)*R1;B2=inv(P)*R2;B3=inv(P)*R3;Hw1=-inv(A1-1i*w*E)*B1;Hw2=-inv(A2-1i*w*E)*B2;Hw3=-inv(A3-1i*w*E)*B3;D(i,1)=angle(Hw1(2))*180/pi;D(i,2)=abs(Hw1(2));C(i,1)=angle(Hw2(2))*180/pi;C(i,2)=abs(Hw2(2));M(i,1)=angle(Hw3(2))*180/pi;M(i,2)=abs(Hw3(2));i=i+1;endsubplot(2,1,1)f=0.1:0.1:10;semilogx(f,D(:,2),'k',f,C(:,2),'r-.',f,M(:,2))gridonset(gca,'Xtick',[0.1,0.3,1.5,3,10])set(gca,'FontName','Helvetica','FontSize',10)legend('缺乏轉(zhuǎn)向','中性轉(zhuǎn)向','過(guò)多轉(zhuǎn)向')title(['具有不同轉(zhuǎn)向特性車(chē)輛的橫擺角速度幅頻響應(yīng)'],'FontSize',12);xlabel('頻率/Hz')ylabel('橫擺角速度增益/{(°/s)/(°)}')subplot(2,1,2)f=0.1:0.1:10;semilogx(f,D(:,1),'k',f,C(:,1),'r-.',f,M(:,1))gridonset(gca,'Xtick',[0.1,0.3,1.5,3,10])set(gca,'FontName','Helvetica','FontSize',10)legend('缺乏轉(zhuǎn)向','中性轉(zhuǎn)向','過(guò)多轉(zhuǎn)向')title(['具有不同轉(zhuǎn)向特性車(chē)輛的橫擺角速度相頻響應(yīng)'],'FontSize',12);xlabel('頻率/Hz')ylabel('橫擺角速度相位〔°〕')gridonset(gca,'Xtick',[0.1,0.3,1.5,3,10])set(gca,'FontName','Helvetica','FontSize',10)legend('缺乏轉(zhuǎn)向','中性轉(zhuǎn)向','過(guò)多轉(zhuǎn)向')title(['具有不同轉(zhuǎn)向特性車(chē)輛的橫擺角速度相頻響應(yīng)'],'FontSize',12);xlabel('頻率/Hz')ylabel('橫擺角速度相位〔°〕')、具有不同轉(zhuǎn)向特性車(chē)輛的側(cè)向加速度和相頻響應(yīng)m=1000;I=1500;a1=1.15;a2=1.25;a3=1.35;b1=1.35;b2=1.25;b3=1.15;Caf=53000;Car=53000;D=[];C=[];M=[];uc=20;L=a1+b1;i=1;forf=0.1:0.1:10w=2*pi*f;E=[10;01];Vi=w*I*Caf;Rr=L*Caf*Car/uc;Vr1=(L*b1*Caf*Car/uc-m*a1*Caf*uc);Vr2=(L*b2*Caf*Car/uc-m*a2*Caf*uc);Vr3=(L*b3*Caf*Car/uc-m*a3*Caf*uc);Ri1=w*m*a1*Caf;Ri2=w*m*a2*Caf;Ri3=w*m*a3*Caf;Dr1=-w^2*m*I+L^2*Caf*Car/(uc^2)+m*(b1*Car-a1*Caf);Dr2=-w^2*m*I+L^2*Caf*Car/(uc^2)+m*(b2*Car-a2*Caf);Dr3=-w^2*m*I+L^2*Caf*Car/(uc^2)+m*(b3*Car-a3*Caf);Di1=w*(I*(Caf+Car)+m*(a1^2*Caf+b1^2*Car))/uc;Di2=w*(I*(Caf+Car)+m*(a2^2*Caf+b2^2*Car))/uc;Di3=w*(I*(Caf+Car)+m*(a3^2*Caf+b3^2*Car))/uc;Hay1=1i*w*(Vr1+1i*Vi)/(Dr1+1i*Di1)+uc*(Rr+1i*Ri1)/(Dr1+1i*Di1);Hay2=1i*w*(Vr2+1i*Vi)/(Dr2+1i*Di2)+uc*(Rr+1i*Ri2)/(Dr2+1i*Di2);Hay3=1i*w*(Vr3+1i*Vi)/(Dr3+1i*Di3)+uc*(Rr+1i*Ri3)/(Dr3+1i*Di3);D(i,1)=angle(Hay1)*180/pi;D(i,2)=abs(Hay1);C(i,1)=angle(Hay2)*180/pi;C(i,2)=abs(Hay2);M(i,1)=angle(Hay3)*180/pi;M(i,2)=abs(Hay3);i=i+1;endsubplot(2,1,1)f=0.1:0.1:10;semilogx(f,D(:,2)*(pi/(180*9.8)),'k',f,C(:,2)*(pi/(180*9.8)),'r-.',f,M(:,2)*(pi/(180*9.8)))gridonset(gca,'XTick',[0.10.31310])set(gca,'FontName','Helvetica','FontSize',10)legend('缺乏轉(zhuǎn)向','中性轉(zhuǎn)向','過(guò)多轉(zhuǎn)向')title(['具有不同轉(zhuǎn)向特性車(chē)輛的側(cè)向加速度幅頻響應(yīng)'],'FontSize',12);xlabel('頻率/Hz')ylabel('側(cè)向加速度增益/[g/(°)]')subplot(2,1,2)f=0.1:0.1:10;semilogx(f,D(:,1),'k',f,C(:,1),'r-.',f,M(:,1))gridonlegend('缺乏轉(zhuǎn)向','中性轉(zhuǎn)向','過(guò)多轉(zhuǎn)向')set(gca,'XTick',[0.10.31310])set(gca,'FontName','Helvetica','FontSize',10)title(['具有不同轉(zhuǎn)向特性車(chē)輛的側(cè)向加速度幅頻響應(yīng)'],'FontSize',12);axis([0.110-120120])xlabel('頻率/Hz')ylabel('側(cè)向加速度相位〔°〕')、ABS控制器設(shè)計(jì)w0=120;v0=30;Tb=600;ki=4500;kd=5000;Ts=0.05;Iw=12;rd=0.25;uh=0.8;ug=0.6;s0=0.2;m=300;g=9.8;w=[];v=[];s=[];w(1)=120;v(1)=30;s(1)=0;k=0;i=2;while(v0>0)k=k+1;sb=(v0-rd*w0)/v0;s(i)=sb;ifsb<=s0u=uh/s0*sb;elseu=(uh-ug*s0)/(1-s0)-rd*sb;endFxb=u*m*g;Tb=Tb-kd*Ts;Tb=Tb+ki*Ts;elseTb=Tb;endw0=w0+(Fxb*rd-Tb)/Iw*Ts;w(i)=w0;v0=v0-Fxb/m*Ts;v(i)=v0;i=i+1;endt=[0:Ts:Ts*k];subplot(2,1,1)plot(t,v,t,w*rd);gridonlegend('車(chē)輪前進(jìn)速度','車(chē)輪線速度');set(gca,'FontName','Helvetica','FontSize',10)title(['車(chē)輪前進(jìn)速度與車(chē)輪線速度關(guān)系曲線'],'FontSize',12);xlabel('時(shí)間/〔s〕');ylabel('速度/〔m/s〕');axis([0,Ts*k,0,32]);subplot(2,1,2)plot(t,s);axis([0,Ts*k,0,1]);gridonset(gca,'FontName','Helvetica','FontSize',10)title(['ABS控制的滑移率時(shí)域仿真結(jié)果'],'FontSize',12);xlabel('時(shí)間/〔s〕');ylabel('滑移率');set(gca,'Ytick',0:0.2:1)3、扭振系統(tǒng)振型圖J1=[1.986*10^(-3);1.910*10^(-3);1.931*10^(-3);1.931*10^(-3);1.910*10^(-3);1.924*10^(-3);7.8426*10^(-2);2.258*10^(-3);2.641*10^(-2);2.91*10^(-3);2.51*10^(-3);1.77*10^(-3);7.836*10^(-2);3.238];K1=[7.95*10^4;7.95*10^4;6.95*10^4;7.95*10^4;7.95*10^4;6.90*10^4;8.93*10^3;1.41*10^4;1.02*10^4;4.4*10^3;1.38*10^4;1.616*10^2;2.51*10^2];J=diag(J1);K(1,1)=K1(1);K(1,2)=-K1(1);i=2;fori=2:13;K(i,i-1)=-K1(i-1);K(i,i)=K1(i-1)+K1(i);K(i,i+1)=-K1(i);endK(14,13)=-K1(13);K(14,14)=K1(13);A=inv(J)*K;[G,D]=eig(A);f=sqrt(D)/(2*pi);m=1;whilem<=14G(:,m)=G(:,m)/G(1,m)m=m+1endsubplot(3,2,1)plot((G(:,13)))xlabel('質(zhì)點(diǎn)號(hào)');set(gca,'FontName','Helvetica','FontSize',10)gridontitle(['單節(jié)點(diǎn)振型圖〔〕'],'FontSize',12)axis([115-0.21.1])subplot(3,2,2)plot(G(:,12))xlabel('質(zhì)點(diǎn)號(hào)');set(gca,'FontName','Helvetica','FontSize',10)gridonaxis([115-51.2])title(['雙節(jié)點(diǎn)振型圖〔〕'],'FontSize',12)subplot(3,2,3)plot(G(:,11))xlabel('質(zhì)點(diǎn)號(hào)');set(gca,'FontName','Helvetica','FontSize',10)gridonaxis([115-71.2])title(['三節(jié)點(diǎn)振型圖(73.9Hz)'],'FontSize',12)subplot(3,2,4)plot(G(:,10))xlabel('質(zhì)點(diǎn)號(hào)');set(gca,'FontName','Helvetica','FontSize',10)gridontitle(['四節(jié)點(diǎn)振型圖(147.7Hz)'],'FontSize',12)axis([115-937])subplot(3,2,5)plot(G(:,9))xlabel('質(zhì)點(diǎn)號(hào)');set(gca,'FontName','Helvetica','FontSize',10)gridonaxis([115-0.21.1])title(['五節(jié)點(diǎn)振型圖(252Hz)'],'FontSize',12)5、福特Granada轎車(chē)后懸架單輪模型頻率響應(yīng)函數(shù)和系統(tǒng)相應(yīng)輸入功率譜密度mb=317.5;mw=45.4;ks=22000;kt=192000;cs=1500;Go=5*10^(-6);Uc=20;n=1;B=[];D=[];forf=0:0.01:15w=2*pi*f;Sf=4.47*10^(-4)*power(f,-2.5);A=[i*cs*w+(ks+kt-w^2*mw),-i*cs*w-ks;-i*cs*w-ks,i*cs*w+(ks-mb*w^2)];C=[kt;0];D=-A^(-1)*C;B(1,n)=abs(D(2)-D(1));B(2,n)=abs(-D(2)*w^2);B(3,n)=abs(kt*(D(1)-1));B(4,n)=Sf;B(5,n)=B(2,n)^2*Sf;B(6,n)=B(1,n)^2*Sf;B(7,n)=B(3,n)^2*Sf;n=n+1;endf=0:0.01:15subplot(3,2,1)plot(f,B(1,:));xlabel('頻率/Hz')ylabel('懸架動(dòng)行程增益')gridonsubplot(3,2,2);plot(f,B(2,:));gridonxlabel('頻率/Hz')ylabel('不舒適性參數(shù)增益/[(m/s^2)/m]')subplot(3,2,3);plot(f,B(3,:));gridonxlabel('頻率/Hz')ylabel('輪胎動(dòng)載荷增益/[N/m]')subplot(3,2,4)plot(f,B(6,:));xlabel('頻率/Hz')ylabel('懸架動(dòng)行程功率譜密度/[m^2/Hz]')gridonsubplot(3,2,5);plot(f,B(5,:));gridonxlabel('頻率/Hz')ylabel('不舒適性功率譜密度/[(m/s^2)^2/Hz]')subplot(3,2,6);plot(f,B(7,:));gridonxlabel('頻率/Hz')ylabel('輪胎動(dòng)載荷功率譜密度/[N^2/Hz]')6、魔術(shù)公式xdata=[00.781.882.793.804.826.29