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Fig.1
Fig.2
Variante constructiv-funcionale
Cilindru de amortizare la MH
Ts
PL ( s ) ;
Ts+1
PL = PA PB
QRc ( s) = K
1
; T = Aa2 Rh f ;
Rh f
K=
C Rc = Aa2
Fig.3
Amortizoare pneumo-hidraulice pe MH
K=
Rh f =
128 L f
D 4f
1
; T = Rhf C R c ;
2 Rhf
Rh f =
128 L f
D 4f
C R c = C H a = C Hu + C Hg ;
C Hu =
Rh =
Ts
Qa ( s ) = Q R c ( s ) = K
PL ( s )
Ts+1
Vg 0 Vg 0
Vu 0
; C Hg =
=
;
E g n P0
E
128 L f
D 4f
Fig.4
Fig.5
Q M ( s ) = Q v ( s ) Q R c ( s )
Q ( s ) = K T s P ( s )
L
Rc
T s+1
Qc ( s ) = Q M ( s ) Q( s )
Q ( s ) = K 1 v M ( s )
(1)
1
PL ( s ) =
Qc ( s )
T1 s
v ( s ) = K 2 [ K P ( s ) F ( s ) ]
1 L
RM
M
T2 s+1
K 1 = AM ;
K2 =
1
;
cM
T1 = C H M ; T2 =
KuM =
M LM
cM
. C HM =
VM
; V M = AM LM
4E
4 E AM
A2
= M ;
LM
CH M
Q = AM v M (debit util) ;
TF =
C HM
;
AM
KM =
1
;
AM
Qc = C HM PL (debit de compresibilitate)
M = AM
K uM
1
E ( DM2 d M2 )
;
=
=
CH M M LM
M LM
LM M L M
M =
vM c (s) =
v M c ( s) =
A1 =
cM
2 AM
M LM
cM
2
LM
E ( D d M2 ) M L M
2
M
K M (T s + 1)
3
A3 s + A2 s 2 + A1 s + 1
[Q ( s) T
K M (T s + 1)
s2
(TF 1 s + 1) 2 + 2 s + 1)
T1 + T ( K + K 1 K 1 K 2 )
;
K 12 K 2
v M c (s)
A2 =
K M (T s + 1)
s
M2 c
M c
CH M
Mc
+2
s+1
Mc
s FR M ( s )
[Q ( s) T
v
s FR M ( s )
T1 T2 + T (T1 + K T2 )
;
K 12 K 2
[Q ( s) T
v
s FR M ( s )
(2)
(3)
A3 =
T T1 T2
K 12 K 2
(4)
A
1
; M c 0.5 1 .
A2
A2
B. Problem
S se simuleze numeric funcionarea motorului hidraulic compensat printr-o reea mecanohidraulic format din acumulatoare pneumo-hidrulice i rezistoare de filtrare, avnd urmtoarele
valori numerice ale parametrilor constructiv funcionali i ai celor dinamici:
Valori numerice - MHL:
c M =100 [N s / m]; d M = 0.040 [m] ; DM = 0.062 [m] ; E = 0.4 e9 [ N / m 2 ] ; FRM = 0 ;
LM = 0.4 [m] ; LA 0 = LB 0 = 0.2 [m] ; M L = 20 [kg] ; M M = 10 [kg] ; P0 = 30e5 [ N / m 2 ] ; M = 0
Valori numerice - Reea de compensare cu acumulatori pneumo-hidraulici:
Da = 0.1 [m] ; D f = 0.003 [m] ; u = 1.8 e-2 [ N s / m 2 ] ; La c = 0.15 [m]; L f = 0.01 [m] ;
n = 1.4 ; PA 0 = 15 e5 [ N / m 2 ] ; u = 920 [ kg / m 3 ] ;
Parametri dimamici;
MHL:
K 1 = 1.762 e-3, K 2 = 1 e-2, T1 = 4.406 e-13, T2 = 0.3,
K M = 567.4, TF = 2.5 e-10, M = 484.76, M = 3.438 e-3.
Reea compensare
K = 5.402 e-9, T = 5.219 e-2.
MHL compensat
A3 = 2.221 e-7, A2 = 2.7728 e-3, A1 = 6.129 e-2, A0 = 1.
M c = 19.145, M c = 0.5867.
1. S se reprezinte n Simulink diagrama de simulare.
t 0.5
= 100 [ N ] .
Diagrama de simulare:
0.
t
To Workspace
Clock
K2
5.219e-2s
5.219e-2s+1
RcM_5
QM 5e-4
t=0.005
+
Sum
+
Sum1
FRM 100
t=0.5
5.
-K-
K
1
1.
4.406e-13s
FdT
K3
1e-2
+
Sum2
K1
Mux
0.3s+1
FdT1
Mux
1.
y
To Workspace1
K1_
5.219e-2s+1
-K-
2.728e-3s 2+6.129e-2s+1
KM1
MHLcomp_simpl
5.219e-2s+1
-K-
KM
MHL_Comp
Rspunsul indicial
vM
[m/s]
vM
0.3
0.25
0.2
0.15
FRM
0.1
QM
0.05
0
0.1
0.2
0.3
Scope
0.4
0.5
0.6
0.7
0.8
0.9
t [s]