doc/main.tex

@@ -56,16 +56,15 @@
                 m_{rover} &= 6 & [kg] \\
                 w &= 400 & [mm] \\
                 l &= 250 & [mm] \\
-                \theta_{typ} &= 20 & [deg] \\
-                \theta_{max} &= 30 & [deg]
+                \alpha_{typ} &= 20 & [deg] \\
+                \alpha_{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 & [-] \\
-                J &= 2.1 \cdot 10^{-3} & [kg\cdot m^2]
+                C_r &= 0,1 & [-]
             \end{align*}
 
         \subsection{Eisen}
@@ -73,9 +72,7 @@
             \begin{align*}
                 v_{max} &= 2.1 & [m/s] \\
                 a_{acc} &= 0.7 & [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]\\
+                a_{dec} &= 0.5 & [m/s^2]
             \end{align*}
 
 
@@ -142,15 +139,14 @@
                 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_{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]
+                &= 1.29375 & [N]
+                \\
+                T_{as} &= F_{aand} \cdot r \\
+                &=(F_{eff}+F_{rol}) \cdot r \\
+                &=97.03125 & [mNm]
             \end{align*}
 
             \subsubsection{Vertragen}
@@ -158,15 +154,14 @@
                 F_{eff} &= m \cdot a \\
                 &= 1.5 \cdot 0.5 \\
                 &= 0.75 & [N] \\
-                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]
+                \\
+                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]
             \end{align*}
 
         \subsection{Dalende ondergrond}
@@ -184,13 +179,13 @@
                 &= 1.5 \cdot 1.625 \\
                 &= 2.4375 & [N] \\
                 \\
-                \theta &= 20 & [deg] \\
+                \alpha &= 20 & [deg] \\
                 \\
                 F_N &= F_{z1} \\
-                F_{z1} &= \cos{\theta}\cdot F_{z}\\
+                F_{z1} &= \cos{\alpha}\cdot F_{z}\\
                 &= \cos{20}\cdot 2.4375 \\
                 &= 2.2905 & [N] \\
-                F_{z2} &= \sin{\theta}\cdot F_{z}\\
+                F_{z2} &= \sin{\alpha}\cdot F_{z}\\
                 &= \sin{20}\cdot 2.4375 \\
                 &= 0.834 & [N] \\
             \end{align*}

src/plot.py

@@ -22,11 +22,11 @@ w = np.linspace(0,5050,x_lim)
 
 fig, (ax1,ax2,ax3)= plt.subplots(1,3,figsize=(18,6))
 
-# ax1.plot(w,T_1a,label="T_1a",linestyle=(0,(3,1,1,1)))
-# ax1.plot(w,T_1b,label="T_1b",linestyle=(0,(3,1,1,1)))
-# ax1.plot(w,T_1c,label="T_1c",linestyle=(0,(3,1,1,1)))
-# ax1.plot(w,T_2,label="T_2",linestyle=(0,(3,1,1,1)))
-# ax1.plot(w,T_3,label="T_3",linestyle=(0,(3,1,1,1)))
+ax1.plot(w,T_1a,label="T_1a",linestyle=(0,(3,1,1,1)))
+ax1.plot(w,T_1b,label="T_1b",linestyle=(0,(3,1,1,1)))
+ax1.plot(w,T_1c,label="T_1c",linestyle=(0,(3,1,1,1)))
+ax1.plot(w,T_2,label="T_2",linestyle=(0,(3,1,1,1)))
+ax1.plot(w,T_3,label="T_3",linestyle=(0,(3,1,1,1)))
 ax2.plot(w,T_1a,label="T_1a",linestyle=(0,(3,1,1,1)))
 ax2.plot(w,T_1b,label="T_1b",linestyle=(0,(3,1,1,1)))
 ax2.plot(w,T_1c,label="T_1c",linestyle=(0,(3,1,1,1)))