小学期课程设计报告附录.docx

1、小学期课程设计报告附录附录1 车体垂向振动模型MATLAB仿真编程代码(1)clear all;clc;%设置常量mc=44200; %车体c质量:kgmb=3250; %转向架b质量:kgmw=1500; %轮对w质量:kgIc=2.5e6; %车体c点头转动惯量:kg*m2Icx=161380; %车体c侧滚转动惯量:kg*m2Ib=3650; %转向架b点头转动惯量:kg*m2Ibx=3650; %转向架b侧滚转动惯量:kg*m2Iwx=1200; %轮对侧滚转动惯量:kg*m2lc=9.5; %转向架间距离的一半:mks=2.5e6; %二系轴箱悬挂劲度系数:N/mkp=2.1e6;

2、%一系轴箱悬挂劲度系数:N/mcs=2.0e5; %二系轴箱阻尼系数：N*s/mcp=5.0e4; %一系轴箱阻尼系数：N*s/mlb=1.25; %轮对间距离的一半:mkr=1.0e8; %钢轨系数：N/mg=9.8; %重力加速度:m/s2%a-加速度，v-速度，x-位移，alpha-角加速度，omega-角速度，thet-偏转角%数值积分格式中常数：phi，psi%初始化phi=0.5;psi=0.5;i=1;tt=0.0001;n=90000;tz=9;%变量声明xc=zeros(1,n);xb1=zeros(1,n);xb2=zeros(1,n);xw1=zeros(1,n);xw2

3、=zeros(1,n);xw3=zeros(1,n);xw4=zeros(1,n);xx1=zeros(1,n);xx2=zeros(1,n);xx3=zeros(1,n);xx4=zeros(1,n);vc=zeros(1,n);vb1=zeros(1,n);vb2=zeros(1,n);vw1=zeros(1,n);vw2=zeros(1,n);vw3=zeros(1,n);vw4=zeros(1,n);ac=zeros(1,n);ab1=zeros(1,n);ab2=zeros(1,n);aw1=zeros(1,n);aw2=zeros(1,n);aw3=zeros(1,n);aw4=z

4、eros(1,n);thetc=zeros(1,n);thetb1=zeros(1,n);thetb2=zeros(1,n);omegac=zeros(1,n);omegab1=zeros(1,n);omegab2=zeros(1,n);alphac=zeros(1,n);alphab1=zeros(1,n);alphab2=zeros(1,n);Fs1=zeros(1,n);Fs2=zeros(1,n);Fp1=zeros(1,n);Fp2=zeros(1,n);Fp3=zeros(1,n);Fp4=zeros(1,n);Fw1=zeros(1,n);Fw2=zeros(1,n);Fw3=z

5、eros(1,n);Fw4=zeros(1,n);%设起步时刻i=1,t=0Fs1(i)=ks*(xb1(i)-lc*thetc(i)-xc(i)+cs*(vb1(i)-lc*omegac(i)-vc(i);Fs2(i)=ks*(xb2(i)+lc*thetc(i)-xc(i)+cs*(vb2(i)+lc*omegac(i)-vc(i);Fp1(i)=kp*(xw1(i)+lb*thetb1(i)-xb1(i)+cp*(vw1(i)+lb*omegab1(i)-vb1(i);Fp2(i)=kp*(xw2(i)-lb*thetb1(i)-xb2(i)+cp*(vw2(i)-lb*omegab1(

6、i)-vb1(i);Fp3(i)=kp*(xw3(i)+lb*thetb2(i)-xb2(i)+cp*(vw3(i)+lb*omegab2(i)-vb2(i);Fp4(i)=kp*(xw4(i)-lb*thetb2(i)-xb2(i)+cp*(vw4(i)-lb*omegab2(i)-vb2(i);Fw1(i)=kr*(xx1(i)-xw1(i);Fw2(i)=kr*(xx2(i)-xw2(i);Fw3(i)=kr*(xx3(i)-xw3(i);Fw4(i)=kr*(xx4(i)-xw4(i);ab1(i)=(Fp1(i)+Fp2(i)-Fs1(i)-mb*g)/mb;ab2(i)=(Fp3(

7、i)+Fp4(i)-Fs2(i)-mb*g)/mb;alphab1(i)=lb*(Fp2(i)-Fp1(i)/Ib;alphab2(i)=lb*(Fp4(i)-Fp3(i)/Ib;ac(i)=(Fs1(i)+Fs2(i)-mc*g)/mc;alphac(i)=lc*(Fs1(i)-Fs2(i)/Ic;aw1(i)=(Fw1(i)-Fp1(i)-mw*g)/mw;aw2(i)=(Fw2(i)-Fp2(i)-mw*g)/mw;aw3(i)=(Fw3(i)-Fp3(i)-mw*g)/mw;aw4(i)=(Fw4(i)-Fp4(i)-mw*g)/mw; %数值积分xc(i+1)=xc(i)+vc(i)

8、*tt+(0.5+psi)*ac(i)*tt2-psi*ac(i)*tt2;vc(i+1)=vc(i)+(1+phi)*ac(i)*tt-phi*ac(i)*tt;thetc(i+1)=thetc(i)+omegac(i)*tt+(0.5+psi)*alphac(i)*tt2-psi*alphac(i)*tt2;omegac(i+1)=omegac(i)+(1+phi)*alphac(i)*tt-phi*alphac(i)*tt;xb1(i+1)=xb1(i)+vb1(i)*tt+(0.5+psi)*ab1(i)*tt2-psi*ab1(i)*tt2;vb1(i+1)=vb1(i)+(1+ph

9、i)*ab1(i)*tt-phi*ab1(i)*tt;thetb1(i+1)=thetb1(i)+omegab1(i)*tt+(0.5+psi)*alphab1(i)*tt2-psi*alphab1(i)*tt2;omegab1(i+1)=omegab1(i)+(1+phi)*alphab1(i)*tt-phi*alphab1(i)*tt;xb2(i+1)=xb2(i)+vb2(i)*tt+(0.5+psi)*ab2(i)*tt2-psi*ab2(i)*tt2;vb2(i+1)=vb2(i)+(1+phi)*ab2(i)*tt-phi*ab2(i)*tt;thetb2(i+1)=thetb2(

10、i)+omegab2(i)*tt+(0.5+psi)*alphab2(i)*tt2-psi*alphab2(i)*tt2;omegab2(i+1)=omegab2(i)+(1+phi)*alphab2(i)*tt-phi*alphab2(i)*tt;xw1(i+1)=xw1(i)+vw1(i)*tt+(0.5+psi)*aw1(i)*tt2-psi*aw1(i)*tt2;vw1(i+1)=vw1(i)+(1+phi)*aw1(i)*tt-phi*aw1(i)*tt;xw2(i+1)=xw2(i)+vw2(i)*tt+(0.5+psi)*aw2(i)*tt2-psi*aw2(i)*tt2;vw2

11、(i+1)=vw2(i)+(1+phi)*aw2(i)*tt-phi*aw2(i)*tt;xw3(i+1)=xw3(i)+vw3(i)*tt+(0.5+psi)*aw3(i)*tt2-psi*aw3(i)*tt2;vw3(i+1)=vw3(i)+(1+phi)*aw3(i)*tt-phi*aw3(i)*tt;xw4(i+1)=xw4(i)+vw4(i)*tt+(0.5+psi)*aw4(i)*tt2-psi*aw4(i)*tt2;vw4(i+1)=vw4(i)+(1+phi)*aw4(i)*tt-phi*aw4(i)*tt;i=i+1;for t=0.0001:(tz/n):(tz/3) %车

12、体模型 Fs1(i)=ks*(xb1(i)-lc*thetc(i)-xc(i)+cs*(vb1(i)-lc*omegac(i)-vc(i); Fs2(i)=ks*(xb2(i)+lc*thetc(i)-xc(i)+cs*(vb2(i)+lc*omegac(i)-vc(i); Fp1(i)=kp*(xw1(i)+lb*thetb1(i)-xb1(i)+cp*(vw1(i)+lb*omegab1(i)-vb1(i); Fp2(i)=kp*(xw2(i)-lb*thetb1(i)-xb2(i)+cp*(vw2(i)-lb*omegab1(i)-vb1(i); Fp3(i)=kp*(xw3(i)+lb

13、*thetb2(i)-xb2(i)+cp*(vw3(i)+lb*omegab2(i)-vb2(i); Fp4(i)=kp*(xw4(i)-lb*thetb2(i)-xb2(i)+cp*(vw4(i)-lb*omegab2(i)-vb2(i); Fw1(i)=kr*(xx1(i)-xw1(i); Fw2(i)=kr*(xx2(i)-xw2(i); Fw3(i)=kr*(xx3(i)-xw3(i); Fw4(i)=kr*(xx4(i)-xw4(i); ab1(i)=(Fp1(i)+Fp2(i)-Fs1(i)-mb*g)/mb; ab2(i)=(Fp3(i)+Fp4(i)-Fs2(i)-mb*g)/

14、mb; alphab1(i)=lb*(Fp2(i)-Fp1(i)/Ib; alphab2(i)=lb*(Fp4(i)-Fp3(i)/Ib; ac(i)=(Fs1(i)+Fs2(i)-mc*g)/mc; alphac(i)=lc*(Fs1(i)-Fs2(i)/Ic; aw1(i)=(Fw1(i)-Fp1(i)-mw*g)/mw; aw2(i)=(Fw2(i)-Fp2(i)-mw*g)/mw; aw3(i)=(Fw3(i)-Fp3(i)-mw*g)/mw; aw4(i)=(Fw4(i)-Fp4(i)-mw*g)/mw; %数值积分 xc(i+1)=xc(i)+vc(i)*tt+(0.5+psi)*

15、ac(i)*tt2-psi*ac(i-1)*tt2; vc(i+1)=vc(i)+(1+phi)*ac(i)*tt-phi*ac(i-1)*tt; thetc(i+1)=thetc(i)+omegac(i)*tt+(0.5+psi)*alphac(i)*tt2-psi*alphac(i-1)*tt2; omegac(i+1)=omegac(i)+(1+phi)*alphac(i)*tt-phi*alphac(i-1)*tt; xb1(i+1)=xb1(i)+vb1(i)*tt+(0.5+psi)*ab1(i)*tt2-psi*ab1(i-1)*tt2; vb1(i+1)=vb1(i)+(1+p

16、hi)*ab1(i)*tt-phi*ab1(i-1)*tt; thetb1(i+1)=thetb1(i)+omegab1(i)*tt+(0.5+psi)*alphab1(i)*tt2-psi*alphab1(i-1)*tt2; omegab1(i+1)=omegab1(i)+(1+phi)*alphab1(i)*tt-phi*alphab1(i-1)*tt; xb2(i+1)=xb2(i)+vb2(i)*tt+(0.5+psi)*ab2(i)*tt2-psi*ab2(i-1)*tt2; vb2(i+1)=vb2(i)+(1+phi)*ab2(i)*tt-phi*ab2(i-1)*tt; the

17、tb2(i+1)=thetb2(i)+omegab2(i)*tt+(0.5+psi)*alphab2(i)*tt2-psi*alphab2(i-1)*tt2; omegab2(i+1)=omegab2(i)+(1+phi)*alphab2(i)*tt-phi*alphab2(i-1)*tt; xw1(i+1)=xw1(i)+vw1(i)*tt+(0.5+psi)*aw1(i)*tt2-psi*aw1(i-1)*tt2; vw1(i+1)=vw1(i)+(1+phi)*aw1(i)*tt-phi*aw1(i-1)*tt; xw2(i+1)=xw2(i)+vw2(i)*tt+(0.5+psi)*a

18、w2(i)*tt2-psi*aw2(i-1)*tt2; vw2(i+1)=vw2(i)+(1+phi)*aw2(i)*tt-phi*aw2(i-1)*tt; xw3(i+1)=xw3(i)+vw3(i)*tt+(0.5+psi)*aw3(i)*tt2-psi*aw3(i-1)*tt2; vw3(i+1)=vw3(i)+(1+phi)*aw3(i)*tt-phi*aw3(i-1)*tt; xw4(i+1)=xw4(i)+vw4(i)*tt+(0.5+psi)*aw4(i)*tt2-psi*aw4(i-1)*tt2; vw4(i+1)=vw4(i)+(1+phi)*aw4(i)*tt-phi*aw

19、4(i-1)*tt; i=i+1;endfor t=(tz/3+0.0001):0.0001:tz %激扰 xx1(i)=0.05*sin(1*pi*t); xx2(i)=0.05*sin(2*pi*t); xx3(i)=0.05*sin(3*pi*t); xx4(i)=0.05*sin(4*pi*t); %车体模型 Fs1(i)=ks*(xb1(i)-lc*thetc(i)-xc(i)+cs*(vb1(i)-lc*omegac(i)-vc(i); Fs2(i)=ks*(xb2(i)+lc*thetc(i)-xc(i)+cs*(vb2(i)+lc*omegac(i)-vc(i); Fp1(i)

20、=kp*(xw1(i)+lb*thetb1(i)-xb1(i)+cp*(vw1(i)+lb*omegab1(i)-vb1(i); Fp2(i)=kp*(xw2(i)-lb*thetb1(i)-xb2(i)+cp*(vw2(i)-lb*omegab1(i)-vb1(i); Fp3(i)=kp*(xw3(i)+lb*thetb2(i)-xb2(i)+cp*(vw3(i)+lb*omegab2(i)-vb2(i); Fp4(i)=kp*(xw4(i)-lb*thetb2(i)-xb2(i)+cp*(vw4(i)-lb*omegab2(i)-vb2(i); Fw1(i)=kr*(xx1(i)-xw1(

21、i); Fw2(i)=kr*(xx2(i)-xw2(i); Fw3(i)=kr*(xx3(i)-xw3(i); Fw4(i)=kr*(xx4(i)-xw4(i); ab1(i)=(Fp1(i)+Fp2(i)-Fs1(i)-mb*g)/mb; ab2(i)=(Fp3(i)+Fp4(i)-Fs2(i)-mb*g)/mb; alphab1(i)=lb*(Fp2(i)-Fp1(i)/Ib; alphab2(i)=lb*(Fp4(i)-Fp3(i)/Ib; ac(i)=(Fs1(i)+Fs2(i)-mc*g)/mc; alphac(i)=lc*(Fs1(i)-Fs2(i)/Ic; aw1(i)=(Fw1

22、(i)-Fp1(i)-mw*g)/mw; aw2(i)=(Fw2(i)-Fp2(i)-mw*g)/mw; aw3(i)=(Fw3(i)-Fp3(i)-mw*g)/mw; aw4(i)=(Fw4(i)-Fp4(i)-mw*g)/mw; if i=n break; end %数值积分 xc(i+1)=xc(i)+vc(i)*tt+(0.5+psi)*ac(i)*tt2-psi*ac(i-1)*tt2; vc(i+1)=vc(i)+(1+phi)*ac(i)*tt-phi*ac(i-1)*tt; thetc(i+1)=thetc(i)+omegac(i)*tt+(0.5+psi)*alphac(i)

23、*tt2-psi*alphac(i-1)*tt2; omegac(i+1)=omegac(i)+(1+phi)*alphac(i)*tt-phi*alphac(i-1)*tt; xb1(i+1)=xb1(i)+vb1(i)*tt+(0.5+psi)*ab1(i)*tt2-psi*ab1(i-1)*tt2; vb1(i+1)=vb1(i)+(1+phi)*ab1(i)*tt-phi*ab1(i-1)*tt; thetb1(i+1)=thetb1(i)+omegab1(i)*tt+(0.5+psi)*alphab1(i)*tt2-psi*alphab1(i-1)*tt2; omegab1(i+1)

24、=omegab1(i)+(1+phi)*alphab1(i)*tt-phi*alphab1(i-1)*tt; xb2(i+1)=xb2(i)+vb2(i)*tt+(0.5+psi)*ab2(i)*tt2-psi*ab2(i-1)*tt2; vb2(i+1)=vb2(i)+(1+phi)*ab2(i)*tt-phi*ab2(i-1)*tt; thetb2(i+1)=thetb2(i)+omegab2(i)*tt+(0.5+psi)*alphab2(i)*tt2-psi*alphab2(i-1)*tt2; omegab2(i+1)=omegab2(i)+(1+phi)*alphab2(i)*tt-

25、phi*alphab2(i-1)*tt; xw1(i+1)=xw1(i)+vw1(i)*tt+(0.5+psi)*aw1(i)*tt2-psi*aw1(i-1)*tt2; vw1(i+1)=vw1(i)+(1+phi)*aw1(i)*tt-phi*aw1(i-1)*tt; xw2(i+1)=xw2(i)+vw2(i)*tt+(0.5+psi)*aw2(i)*tt2-psi*aw2(i-1)*tt2; vw2(i+1)=vw2(i)+(1+phi)*aw2(i)*tt-phi*aw2(i-1)*tt; xw3(i+1)=xw3(i)+vw3(i)*tt+(0.5+psi)*aw3(i)*tt2-

26、psi*aw3(i-1)*tt2; vw3(i+1)=vw3(i)+(1+phi)*aw3(i)*tt-phi*aw3(i-1)*tt; xw4(i+1)=xw4(i)+vw4(i)*tt+(0.5+psi)*aw4(i)*tt2-psi*aw4(i-1)*tt2; vw4(i+1)=vw4(i)+(1+phi)*aw4(i)*tt-phi*aw4(i-1)*tt; i=i+1;endtw=linspace(0,tz/3,n/3);t=linspace(0,2*tz/3,2*n/3);%无激扰绘图 xc_xb1figure=figure(1); plot(tw,xc(1:30000),tw,x

27、b1(1:30000),r-.); grid on;xlabel(Time(s),ylabel(x(m),title(车体c与转向架b1的沉浮位移); legend(车体c,转向架b1); xb1_xb2figure=figure(2); plot(tw,xb1(1:30000),tw,xb2(1:30000),r-.); grid on;xlabel(Time(s),ylabel(x(m),title(转向架b1与转向架b2的沉浮位移); legend(转向架b1,转向架b2); xw1_xw3figure=figure(3); plot(tw,xw1(1:30000),tw,xw3(1:3

28、0000),r-.); grid on;xlabel(Time(s),ylabel(x(m),title(轮对1与轮对3的沉浮位移); legend(轮对1,轮对3); thetc_thetb1figure=figure(4); plot(tw,thetc(1:30000),tw,thetb1(1:30000),r-.); grid on;xlabel(Time(s),ylabel(thet(rad),title(车体c与转向架b1的点头角位移); legend(车体c,转向架b1); vc_vb1figure=figure(5); plot(tw,vc(1:30000),tw,vb1(1:3

29、0000),r-.); grid on;xlabel(Time(s),ylabel(v(m/s),title(车体c与转向架b1的沉浮速度); legend(车体c,转向架b1); vb1_vb2figure=figure(6); plot(tw,vb1(1:30000),tw,vb2(1:30000),r-.); grid on;xlabel(Time(s),ylabel(v(m/s),title(转向架b1与转向架b2的沉浮速度); legend(转向架b1,转向架b2); vw1_vw3figure=figure(7); plot(tw,vw1(1:30000),tw,vw3(1:300

30、00),r-.); grid on;xlabel(Time(s),ylabel(v(m/s),title(轮对1与轮对3的沉浮速度); legend(轮对,轮对3); omegac_omegab1figure=figure(8); plot(tw,omegac(1:30000),tw,omegab1(1:30000),r-.); grid on;xlabel(Time(s),ylabel(omega(rad/s),title(车体c与转向架b1的点头角速度); legend(车体c,转向架b1); ac_ab1figure=figure(9); plot(tw,ac(1:30000),tw,ab1(1:30000),r-.); grid on;xlabel(Time(s),ylabel(v(m/s2),title(车体c与转向架b1的沉浮加速度); legend(车体c,转向架b1); ab1_ab2figure=figure(10); plot(tw,ab1(1:30000),tw,ab2(1:30000),r-.); grid on;xlabel(Time(s),ylabel(v(m/s2),title(转向架b1与转向架b2的沉浮加速度); legend(转向架b1,转向架b2); aw1_aw3figure=figure(11); plot(tw,a