汽车系统动力学Matlab骄阳书屋

1、汽车系统动力学matlab作业报告小组成员：一、组内任务分配二、matlab程序与图形1、不同转向特性车辆在不同车速下的系统特征根m=1000;i=1500;a1=1.15;b1=1.35;caf=53000;car=53000;i=1;r=;for uc=10:5:100; d=(i*(caf+car)+m*(a12*caf+b12*car)/(m*i*uc); s=(a1+b1)2*caf*car/(m*i*uc2)+(b1*car-a1*caf)/i; p=1 d s; r=roots(p); r(i,1)=r(1,1);r(i,2)=r(2,1);i=i+1;endplot(real(

2、r(:,1),imag(r(:,1),bo);holda2=1.25;b2=1.25;t=1;s=; for uc=10:5:100 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;endplot(s(:,1),s(:,2),*)a3=1.35;b3=1.15; for uc=10:5:

3、100 p=m 0;0 i; q=(caf+car)/uc,m*uc+(a3*caf-b3*car)/uc;(a3*caf-b3*car)/uc,(a32*caf+b32*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;endgrid onplot(s(:,1),s(:,2),d);axis(-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

4、(-3,0.2,中性转向)set(gca,fontname,helvetica,fontsize,10)title(不同转向特性车辆在不同车速下的系统特征根,fontsize,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;for f=0.1:0.1:10 w=2*pi*f; e=1 0;0 1; p=m 0;0 i; r1=caf;a1*caf; r2=caf;a2*caf;

5、r3=caf;a3*caf; q1=(caf+car)/uc 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)*q

6、3; 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(

7、f,d(:,2),k,f,c(:,2),r-.,f,m(:,2)grid onset(gca,xtick,0.1,0.3,1.5,3,10)set(gca,fontname,helvetica,fontsize,10)legend(不足转向,中性转向,过多转向)title(具有不同转向特性车辆的横摆角速度幅频响应,fontsize,12);xlabel(频率/hz)ylabel(横摆角速度增益/(/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

8、.25;a3=1.35;b1=1.35;b2=1.25;b3=1.15;caf=53000;car=53000;d=;c=;m=;uc=20;i=1;for f=0.1:0.1:10 w=2*pi*f; e=1 0;0 1; p=m 0;0 i; r1=caf;a1*caf; r2=caf;a2*caf; r3=caf;a3*caf; q1=(caf+car)/uc 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

9、*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; 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(

10、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)grid onset(gca,xtick,0.1,0.3,1.5,3,10)set(gca,fontname,helvetica,fontsize,10)legend(不足转向,中性转向,过多转向)title(具有不同转向特性车

11、辆的横摆角速度幅频响应,fontsize,12);xlabel(频率/hz)ylabel(横摆角速度增益/(/s)/()subplot(2,1,2)f=0.1:0.1:10;semilogx(f,d(:,1),k,f,c(:,1),r-.,f,m(:,1)grid onset(gca,xtick,0.1,0.3,1.5,3,10) set(gca,fontname,helvetica,fontsize,10)legend(不足转向,中性转向,过多转向)title(具有不同转向特性车辆的横摆角速度相频响应,fontsize,12);xlabel(频率/hz)ylabel(横摆角速度相位（）)gr

12、id onset(gca,xtick,0.1,0.3,1.5,3,10) set(gca,fontname,helvetica,fontsize,10)legend(不足转向,中性转向,过多转向)title(具有不同转向特性车辆的横摆角速度相频响应,fontsize,12);xlabel(频率/hz)ylabel(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=

13、1;for f=0.1:0.1:10 w=2*pi*f; e=1 0;0 1; 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=-w2*m*i+l2*caf*car/(uc2)+m*(b1*car-a1*caf); dr2=-w2*m*i+l2*caf*car/(uc2)+m

14、*(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)+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

15、+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)*(p

16、i/(180*9.8),r-.,f,m(:,2)*(pi/(180*9.8)grid onset(gca,xtick,0.1 0.3 1 3 10)set(gca,fontname,helvetica,fontsize,10)legend(不足转向,中性转向,过多转向)title(具有不同转向特性车辆的侧向加速度幅频响应,fontsize,12);xlabel(频率/hz)ylabel(侧向加速度增益/g/()subplot(2,1,2)f=0.1:0.1:10;semilogx(f,d(:,1),k,f,c(:,1),r-.,f,m(:,1)grid onlegend(不足转向,中性转向,过

17、多转向)set(gca,xtick,0.1 0.3 1 3 10)set(gca,fontname,helvetica,fontsize,10)title(具有不同转向特性车辆的侧向加速度幅频响应,fontsize,12);axis(0.1 10 -120 120)xlabel(频率/hz)ylabel(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;

18、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; end w0=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);grid onlegend(车轮前进速度,车轮线速度);set(gca,fontname,helvetica,fontsize,10)tit

19、le(车轮前进速度与车轮线速度关系曲线,fontsize,12);xlabel(时间/（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);grid onset(gca,fontname,helvetica,fontsize,10)title(abs控制的滑移率时域仿真结果,fontsize,12);xlabel(时间/（s）);ylabel(滑移率);set(gca,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

20、(-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*104;7.95*104;6.95*104;7.95*104;7.95*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)=k1(1);k(1,2)=-k1(1);i=

21、2;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);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; while m=14 g(:,m)=g(:,m)/g(1,m) m=m+1endsubplot(3,2,1)plot(g(:,13)xlabel(质点号);set(gca,fontname,helvetica,fontsize,10)grid on title(单节点振型图（4.26hz）,fo

22、ntsize,12)axis(1 15 -0.2 1.1) subplot(3,2,2) plot(g(:,12)xlabel(质点号);set(gca,fontname,helvetica,fontsize,10)grid onaxis(1 15 -5 1.2)title(双节点振型图（11.99hz）,fontsize,12)subplot(3,2,3)plot(g(:,11)xlabel(质点号);set(gca,fontname,helvetica,fontsize,10)grid onaxis(1 15 -7 1.2)title(三节点振型图 (73.9hz),fontsize,12

23、)subplot(3,2,4)plot(g(:,10)xlabel(质点号);set(gca,fontname,helvetica,fontsize,10)grid ontitle(四节点振型图 (147.7hz),fontsize,12)axis(1 15 -9 37)subplot(3,2,5)plot(g(:,9)xlabel(质点号);set(gca,fontname,helvetica,fontsize,10)grid onaxis(1 15 -0.2 1.1)title(五节点振型图 (252hz),fontsize,12)5、福特granada轿车后悬架单轮模型频率响应函数和系统

24、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=;d=;for f=0:0.01:15 w=2*pi*f; 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;

25、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(频率/hz)ylabel(悬架动行程增益)grid onsubplot(3,2,2);plot(f,b(2,:);grid onxlabel(频率/hz)ylabel(不舒适性参数增益/(m/s2)/m)subplot(3,2,3);plot(f,b(3,:);grid onxlabel(频率/hz)ylabel(轮胎动载荷增益/n/m)subplot(3,2,4)plot

26、(f,b(6,:);xlabel(频率/hz)ylabel(悬架动行程功率谱密度/m2/hz)grid onsubplot(3,2,5);plot(f,b(5,:);grid onxlabel(频率/hz)ylabel(不舒适性功率谱密度/(m/s2)2/hz)subplot(3,2,6);plot(f,b(7,:);grid onxlabel(频率/hz)ylabel(轮胎动载荷功率谱密度/n2/hz)6、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.