1、100 P=m 0;0 I;Q=(Caf+Car)/uc,m*uc+(a2*Caf-b2*Car)/uc;(a2*Caf-b2*Car)/uc,(a22*Caf+b22*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;plot(S(:,1),S(:,2),*)a3=1.35;b3=1.15; Q=(Caf+Car)/uc,m*uc+(a3*Caf-b3*Car)/uc;(a3*Caf-b3*Car)/uc,(a32*Caf+b32*Car)/uc
2、;a3*Caf;grid ondaxis(-14 2 0 3);xlabel(实轴(Re)ylabel(虚轴(Im)text(-8,2.8,不足转向text(0,0.2,过多转向text(-3,0.2,中性转向set(gca,FontName,HelveticaFontSize,10)title(不同转向特性车辆在不同车速下的系统特征根,12);2.1、具有不同转向特性车辆的横摆角速度幅频和相频响应D=;C=;M=;uc=20;for f=0.1:0.1:10 w=2*pi*f; E=1 0;0 1; R1=Caf;a1*Caf; R2=Caf; R3=Caf; Q1=(Caf+Car)/uc
3、 m*uc+(a1*Caf-b1*Car)/uc;(a1*Caf-b1*Car)/uc (a12*Caf+b12*Car)/uc; Q2=(Caf+Car)/uc m*uc+(a2*Caf-b2*Car)/uc;(a2*Caf-b2*Car)/uc (a22*Caf+b22*Car)/uc; Q3=(Caf+Car)/uc m*uc+(a3*Caf-b3*Car)/uc;(a3*Caf-b3*Car)/uc (a32*Caf+b32*Car)/uc; A1=-inv(P)*Q1; A2=-inv(P)*Q2; A3=-inv(P)*Q3; B1=inv(P)*R1; B2=inv(P)*R2;
4、 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;subplot(2,1,1)f=0.1:10;semilogx(f,D(:k,f,C(:r-.,f,M(:,2)Xtick,0.1,0.3
5、,1.5,3,10)legend(具有不同转向特性车辆的横摆角速度幅频响应频率/Hz横摆角速度增益/(/s)/()subplot(2,1,2),1),1)m=1000;,1),0.1,0.3,1.5,3,10) 具有不同转向特性车辆的横摆角速度相频响应横摆角速度相位()2.2、具有不同转向特性车辆的侧向加速度和相频响应L=a1+b1; 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
6、); Ri1=w*m*a1*Caf; Ri2=w*m*a2*Caf; Ri3=w*m*a3*Caf; Dr1=-w2*m*I+L2*Caf*Car/(uc2)+m*(b1*Car-a1*Caf); Dr2=-w2*m*I+L2*Caf*Car/(uc2)+m*(b2*Car-a2*Caf); Dr3=-w2*m*I+L2*Caf*Car/(uc2)+m*(b3*Car-a3*Caf); Di1=w*(I*(Caf+Car)+m*(a12*Caf+b12*Car)/uc; Di2=w*(I*(Caf+Car)+m*(a22*Caf+b22*Car)/uc; Di3=w*(I*(Caf+Car)+
7、m*(a32*Caf+b32*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(Hay
8、2); M(i,1)=angle(Hay3)*180/pi;M(i,2)=abs(Hay3);,2)*(pi/(180*9.8),2)*(pi/(180*9.8)XTick,0.1 0.3 1 3 10)具有不同转向特性车辆的侧向加速度幅频响应侧向加速度增益/g/()axis(0.1 10 -120 120)侧向加速度相位(2.3、 ABS控制器设计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;
9、k=0;i=2;while(v00) k=k+1; sb=(v0-rd*w0)/v0; s(i)=sb; if sb0.22 Tb=Tb-kd*Ts; elseif sb0.18 Tb=Tb+ki*Ts; else Tb=Tb; w0=w0+(Fxb*rd-Tb)/Iw*Ts; w(i)=w0; v0=v0-Fxb/m*Ts; v(i)=v0;t=0:Ts:Ts*k;plot(t,v,t,w*rd);车轮前进速度车轮线速度车轮前进速度与车轮线速度关系曲线时间/(s)速度/(m/s)axis(0,Ts*k,0,32);plot(t,s);axis(0,Ts*k,0,1);ABS控制的滑移率时域仿
10、真结果滑移率Ytick,0:0.2:1)3、扭振系统振型图J1=1.986*10(-3);1.910*10(-3);1.931*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*104;7.95*104;6.95*104;6.90*104; 8.93*103;1.41*104;1.02*104;4.4*103;1.38*104;1.616*102;2.51*102;J=diag(J1);K(1,1)=
11、K1(1);K(1,2)=-K1(1);for i=2:13; K(i,i-1)=-K1(i-1); K(i,i)=K1(i-1)+K1(i); K(i,i+1)=-K1(i);K(14,13)=-K1(13);K(14,14)=K1(13);A=inv(J)*K;G,D=eig(A);f=sqrt(D)/(2*pi); m=1; while m=14 G(:,m)=G(:,m)/G(1,m) m=m+1subplot(3,2,1)plot(G(:,13)质点号grid on 单节点振型图(4.26Hz),12)axis(1 15 -0.2 1.1) subplot(3,2,2) plot(G
12、(:,12)axis(1 15 -5 1.2)双节点振型图(11.99Hz)subplot(3,2,3),11)axis(1 15 -7 1.2)三节点振型图 (73.9Hz)subplot(3,2,4),10)四节点振型图 (147.7Hz)axis(1 15 -9 37)subplot(3,2,5),9)axis(1 15 -0.2 1.1)五节点振型图 (252Hz)5、福特Granada轿车后悬架单轮模型频率响应函数和系统相应输入功率谱密度mb=317.5;mw=45.4;ks=22000;kt=192000;cs=1500;Go=5*10(-6);Uc=20;n=1;B=;for f
13、=0:0.01:15 Sf=4.47*10(-4)*power(f,-2.5); A=i*cs*w+(ks+kt-w2*mw),-i*cs*w-ks;-i*cs*w-ks,i*cs*w+(ks-mb*w2); C=kt;0; D=-A(-1)*C; B(1,n)=abs(D(2)-D(1); B(2,n)=abs(-D(2)*w2); 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;f=0:plot(f,B(1,:);悬架动行程增益subplot(
14、3,2,2);plot(f,B(2,:不舒适性参数增益/(m/s2)/msubplot(3,2,3);plot(f,B(3,:轮胎动载荷增益/N/mplot(f,B(6,:悬架动行程功率谱密度/m2/Hzsubplot(3,2,5);plot(f,B(5,:不舒适性功率谱密度/(m/s2)2/Hzsubplot(3,2,6);plot(f,B(7,:轮胎动载荷功率谱密度/N2/Hz6、魔术公式xdata = 0 0.78 1.88 2.79 3.80 4.82 6.29 7.82 9.31 11.80;ydata = 0 7.99 16.05 20.65 23.82 26.00 27.78 2
15、8.87 29.65 30.09;zdata = 0 1.65 1.61 0.77 -0.21 -1.03 -1.90 -2.59 -2.61 -2.68;a0 = 11 1 0.8 1;b0 = 1 1 0.8 1;a = lsqcurvefit(fun1, a0, xdata, ydata);b = lsqcurvefit(fun2, b0, xdata, zdata);yy = fun1(a,xdata);zz = fun2(b,xdata);hold onscatter(xdata, ydata);plot(xdata, yy);MF公式拟合轮胎侧偏力-侧偏角曲线侧偏角 /(侧偏力 Fy/(N)hold on;scatter(xdata,zdata);plot(xdata, zz);MF公式拟合轮胎回正力矩-侧偏角曲线回正力矩 Mz/(Nm)function y = fun1(a,xdata);y=a(1)*sin(a(2)*atan(a(3)*xd
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