arne/EV6_Aandrijftechniek
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47
doc/main.tex
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@ -56,16 +56,15 @@
m_{rover} &= 6 & [kg] \\ m_{rover} &= 6 & [kg] \\
w &= 400 & [mm] \\ w &= 400 & [mm] \\
l &= 250 & [mm] \\ l &= 250 & [mm] \\
\theta_{typ} &= 20 & [deg] \\ \alpha_{typ} &= 20 & [deg] \\
\theta_{max} &= 30 & [deg] \alpha_{max} &= 30 & [deg]
\end{align*} \end{align*}
De wielen hebben de volgende eigenschappen: De wielen hebben de volgende eigenschappen:
\begin{align*} \begin{align*}
r &= 0.075 & [m] \\ r &= 0.075 & [m] \\
\mu_s &= 0,9 & [-] \\ \mu_s &= 0,9 & [-] \\
C_r &= 0,1 & [-] \\ C_r &= 0,1 & [-]
J &= 2.1 \cdot 10^{-3} & [kg\cdot m^2]
\end{align*} \end{align*}
\subsection{Eisen} \subsection{Eisen}
@ -73,9 +72,7 @@
\begin{align*} \begin{align*}
v_{max} &= 2.1 & [m/s] \\ v_{max} &= 2.1 & [m/s] \\
a_{acc} &= 0.7 & [m/s^2] \\ 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*} \end{align*}
@ -142,15 +139,14 @@
F_{eff} &= m \cdot a \\ F_{eff} &= m \cdot a \\
&= 1.5 \cdot 0.7 \\ &= 1.5 \cdot 0.7 \\
&= 1.05 & [N] \\ &= 1.05 & [N] \\
\\
F_{aand} &= F_{eff} + F_{rol} \\ F_{aand} &= F_{eff} + F_{rol} \\
&= 1.05 + 0.24375 \\ &= 1.05 + 0.24375 \\
&= 1.29375 & [N] \\ &= 1.29375 & [N]
T_{traag} &= J \cdot \alpha_{acc} \\ \\
&= 2.1\cdot10^{-3}\cdot 9.33 \\ T_{as} &= F_{aand} \cdot r \\
T_{as} &= F_{aand} \cdot r +T_{traag}\\ &=(F_{eff}+F_{rol}) \cdot r \\
&=(F_{eff}+F_{rol}) \cdot r +T_{traag}\\ &=97.03125 & [mNm]
&= 97.03125 + 19.593 \\
&= 116.62425 & [mNm]
\end{align*} \end{align*}
\subsubsection{Vertragen} \subsubsection{Vertragen}
@ -158,15 +154,14 @@
F_{eff} &= m \cdot a \\ F_{eff} &= m \cdot a \\
&= 1.5 \cdot 0.5 \\ &= 1.5 \cdot 0.5 \\
&= 0.75 & [N] \\ &= 0.75 & [N] \\
F_{aand} &= F_{eff} - F_{rol} \\ \\
&= 0.75 - 0.24375\\ F_{aand} &= F_{rol} - F_{eff} \\
&= 0.50625 & [N] \\ &= 0.24375 - 0.75 \\
T_{traag} &= J \cdot \alpha_{dec} \\ &= -0.50625 & [N]
&= 2.1\cdot10^{-3}\cdot 6.66 \\ \\
T_{as} &= F_{aand} \cdot r + T_{traag}\\ T_{as} &= F_{aand} \cdot r \\
&=(F_{eff}-F_{rol}) \cdot r + T_{traag}\\ &=(F_{eff}-F_{rol}) \cdot r \\
&= 37.96875 + 13.986 \\ &=-37.96875 & [mNm]
&= 51.95475 & [mNm]
\end{align*} \end{align*}
\subsection{Dalende ondergrond} \subsection{Dalende ondergrond}
@ -184,13 +179,13 @@
&= 1.5 \cdot 1.625 \\ &= 1.5 \cdot 1.625 \\
&= 2.4375 & [N] \\ &= 2.4375 & [N] \\
\\ \\
\theta &= 20 & [deg] \\ \alpha &= 20 & [deg] \\
\\ \\
F_N &= F_{z1} \\ F_N &= F_{z1} \\
F_{z1} &= \cos{\theta}\cdot F_{z}\\ F_{z1} &= \cos{\alpha}\cdot F_{z}\\
&= \cos{20}\cdot 2.4375 \\ &= \cos{20}\cdot 2.4375 \\
&= 2.2905 & [N] \\ &= 2.2905 & [N] \\
F_{z2} &= \sin{\theta}\cdot F_{z}\\ F_{z2} &= \sin{\alpha}\cdot F_{z}\\
&= \sin{20}\cdot 2.4375 \\ &= \sin{20}\cdot 2.4375 \\
&= 0.834 & [N] \\ &= 0.834 & [N] \\
\end{align*} \end{align*}

10
src/plot.py
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@ -22,11 +22,11 @@ w = np.linspace(0,5050,x_lim)
fig, (ax1,ax2,ax3)= plt.subplots(1,3,figsize=(18,6)) 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_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_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_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_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_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_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_1b,label="T_1b",linestyle=(0,(3,1,1,1)))
ax2.plot(w,T_1c,label="T_1c",linestyle=(0,(3,1,1,1))) ax2.plot(w,T_1c,label="T_1c",linestyle=(0,(3,1,1,1)))