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@
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mx+cx+kx = f(t),
m
c
k
f(t)
x1 = x x2 = x
x1 = x2
x2 = 1
mf(t)
c
mx2
k
mx1
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\
0 0.5 1 1.5 2 2.5 30
0.005
0.01
0.015
0.02Posicion de la masa [x]
tiempo [s]
posicion[m]
0 0.5 1 1.5 2 2.5 30.05
0
0.05
0.1
0.15Velocidad de la masa [dx]
tiempo [s]
velocidad[m/s]
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x
x= fm c
mx k
mx
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x
x
\
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+
f
m
\
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f
m
x
d2x
dt2
= x
d2xdt2
dxdt
= x x dx
dt = x
x dxdt
= x
\
+ +
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m= 2,5 [kg] c= 10 Nsm
k= 250 N m f= 3 [N]
x
\
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\
\
5 0,001
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\
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0 1 2 3 4 50
0.002
0.004
0.006
0.008
0.01
0.012
0.014
tiempo [s]
posicin[m]
Grfica de la posicin respecto al tiempo del cuerpo rgido
posicin
f x dx
ddx
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\
\
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mszs+cs(zs zu) +ks(zs zu) = 0,
muzu cs(zs zu) ks(zs zu) +kt(zu r) = 0,
ms mu
cs ks kt
zs zu
zr
zs zu
zs = cs
ms(zs zu)
ks
ms(zs zu)
zu =
cs
mu (zs zu) +
ks
mu (zs zu)
kt
mu (zu zr)
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\
\
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0 1 2 3 4 510
5
0
5
10aceleracin vertical del auto
tiempo [s]
aceleracin[m/s2]
0 1 2 3 4 50.02
0.01
0
0.01
0.02
0.03
0.04
0.05posicin vertical del auto
tiempo [s]
posicin[m]
0 1 2 3 4 50.04
0.02
0
0.02
0.04
0.06deflexin de la suspensin
tiempo [s]
deflexin[m]
0 1 2 3 4 50.03
0.02
0.01
0
0.01
0.02
0.03
0.04deflexin del neumtico
tiempo [s]
deflexin[m]
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(M+m)x mL cos +mL2 sen = f,
(I+ mL2) mLx cos +mgL sen = 0,
M m I
L
f x
x
x = 1
(M+m m cos2 )[f mgcos sen mL sen ]
= 1
L(M+ m m cos2 )[cos f mL2 cos sen (M+ m)g sen ]
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0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
0.05
0.1
0.15
0.2posicin de la cabeza de la gra
tiempo [s]
desplazamiento[m]
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
1
2
3
4
5x 10
3 posicin angular de la carga
tiempo [s]
desplazamientoangu
lar[rad]
2 [N]
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D(q)q + C(q, q)q= , q= [q1 q2]T = [1 2]
T
D(q) =
d11 d12d21 d22
, C(q, q) =
c11 c11c21 c22
, =
12
d11 = m1l2
c1+m2(L2
1+l2c2+ 2L1lc2cos 2) +I1+I2
d12 = m2l2
c2+m2L1lc2cos 2+I2
d21 = d12
d22 = m2lc2+I2
h = m2L1lc2sen 2
c11 = h2
c12 = h2+h1
c21 = h1
c22 = 0
m1 m2 I1 I2
L1 L2 lc1 lc2
1 2
12
= 1
d11d22 d12d21
d22 d12d21 d11
c111+c11 2c211+c22 1
12
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\
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LCeo+RCeo+eo = ei
L R C ei
eo
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Ladia
dt +Raia+ke = Va
Jd
dt +B = kmia L
La Ra J B
ke km
ia L Va
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