arne/EV6_Aandrijftechniek
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Implemented wheel inertia

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Stein_van_vliet 2024-03-27 21:52:10 +01:00
parent 666a85eef0
commit 33aea672a1
1 changed files with 26 additions and 21 deletions
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47
doc/main.tex
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@ -56,15 +56,16 @@
m_{rover} &= 6 & [kg] \\
w &= 400 & [mm] \\
l &= 250 & [mm] \\
\alpha_{typ} &= 20 & [deg] \\
\alpha_{max} &= 30 & [deg]
\theta_{typ} &= 20 & [deg] \\
\theta_{max} &= 30 & [deg]
\end{align*}
De wielen hebben de volgende eigenschappen:
\begin{align*}
r &= 0.075 & [m] \\
\mu_s &= 0,9 & [-] \\
C_r &= 0,1 & [-]
C_r &= 0,1 & [-] \\
J &= 2.1 \cdot 10^{-3} & [kg\cdot m^2]
\end{align*}
\subsection{Eisen}
@ -72,7 +73,9 @@
\begin{align*}
v_{max} &= 2.1 & [m/s] \\
a_{acc} &= 0.7 & [m/s^2] \\
a_{dec} &= 0.5 & [m/s^2]
a_{dec} &= 0.5 & [m/s^2] \\
\alpha_{acc} &= \frac{a_{acc}}{r} = 9.33 & [rad/s^2]\\
\alpha_{dec} &= \frac{a_{dec}}{r} = 6.66 & [rad/s^2]\\
\end{align*}
@ -139,14 +142,15 @@
F_{eff} &= m \cdot a \\
&= 1.5 \cdot 0.7 \\
&= 1.05 & [N] \\
\\
F_{aand} &= F_{eff} + F_{rol} \\
&= 1.05 + 0.24375 \\
&= 1.29375 & [N]
\\
T_{as} &= F_{aand} \cdot r \\
&=(F_{eff}+F_{rol}) \cdot r \\
&=97.03125 & [mNm]
&= 1.29375 & [N] \\
T_{traag} &= J \cdot \alpha_{acc} \\
&= 2.1\cdot10^{-3}\cdot 9.33 \\
T_{as} &= F_{aand} \cdot r +T_{traag}\\
&=(F_{eff}+F_{rol}) \cdot r +T_{traag}\\
&= 97.03125 + 19.593 \\
&= 116.62425 & [mNm]
\end{align*}
\subsubsection{Vertragen}
@ -154,14 +158,15 @@
F_{eff} &= m \cdot a \\
&= 1.5 \cdot 0.5 \\
&= 0.75 & [N] \\
\\
F_{aand} &= F_{rol} - F_{eff} \\
&= 0.24375 - 0.75 \\
&= -0.50625 & [N]
\\
T_{as} &= F_{aand} \cdot r \\
&=(F_{eff}-F_{rol}) \cdot r \\
&=-37.96875 & [mNm]
F_{aand} &= F_{eff} - F_{rol} \\
&= 0.75 - 0.24375\\
&= 0.50625 & [N] \\
T_{traag} &= J \cdot \alpha_{dec} \\
&= 2.1\cdot10^{-3}\cdot 6.66 \\
T_{as} &= F_{aand} \cdot r + T_{traag}\\
&=(F_{eff}-F_{rol}) \cdot r + T_{traag}\\
&= 37.96875 + 13.986 \\
&= 51.95475 & [mNm]
\end{align*}
\subsection{Dalende ondergrond}
@ -179,13 +184,13 @@
&= 1.5 \cdot 1.625 \\
&= 2.4375 & [N] \\
\\
\alpha &= 20 & [deg] \\
\theta &= 20 & [deg] \\
\\
F_N &= F_{z1} \\
F_{z1} &= \cos{\alpha}\cdot F_{z}\\
F_{z1} &= \cos{\theta}\cdot F_{z}\\
&= \cos{20}\cdot 2.4375 \\
&= 2.2905 & [N] \\
F_{z2} &= \sin{\alpha}\cdot F_{z}\\
F_{z2} &= \sin{\theta}\cdot F_{z}\\
&= \sin{20}\cdot 2.4375 \\
&= 0.834 & [N] \\
\end{align*}