核心提示:MATLAB代做|FPGA代做|Python代做--主动悬架...
clc;clear;
fprintf('Loading data for LQG_design model...\n')
fprintf('.\n');fprintf('.\n');fprintf('.\n');
mb=320;
mw=40;
ks=20000;
kt=200000;
G0=5e-6;
Cs=1000;
ks1=22000;
u=20;
f0=0.1;
q1=80000;
q2=5;
q3=1;
t=0.005;
m=10001;
n=1;
p=20;
%----------------------------------------
A=[0 0 -ks/mb ks/mb 0
0 0 ks/mw -(kt+ks)/mw kt/mw
1 0 0 0 0
0 1 0 0 0
0 0 0 0 -2*pi*f0];
%-----------------------------------------
B=[1/mb -1.0/mw 0 0 0]';
F=[0 0 0 0 2*pi*sqrt(G0*u)]';
%------------------------------------------
Q=[0 0 0 0 0
0 0 0 0 0
0 0 q2+ks^2/mb^2 -q2-ks^2/mb^2 0
0 0 -q2-ks^2/mb^2 q1+q2+ks^2/mb^2 -q1
0 0 0 -q1 q1];
%-------------------------------------------
R=1/mb^2;
N=1/mb^2*[0 0 -ks ks 0]';
[K,S,E]=LQR(A,B,Q,R,N);
%---------------------------------------------
C=[1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 1];
D=[0 0 0 0 0];
W=WGN(m,n,p);
disp('loading is done,please wait...\n')
fprintf('K=:\n')
fprintf('%6.2f\n\n',K)
try
time = sim('LQG_design',50);
catch
LQG_design_data
time = sim('LQG_design',50);
end
h = findobj(0, 'Name', 'LQG Design');
if isempty(h),
h=figure('Position',[300 87 652 557],...
'Name','LQG Design',...
'NumberTitle','off');
end
figure(h)
set(h,'color','w')
subplot(411)
plot(time,xg)
grid on
xlabel('时间/s');ylabel('xg/m');title('路面输入模型')
subplot(412)
plot(time,dxb,'g')
xlabel('时间/s');ylabel('BA/(m/s^2)');title('车身振动加速度');ylim([-7,7]);
rms=norm(dxb)/sqrt(length(dxb));%%%%%%%%%%%%%%%%%
fprintf('主动悬架:\n车身急速的均方根值为:\n%f\n',rms)
subplot(413)
plot(time,(xw-xg),'c')
xlabel('时间/s');ylabel('DTD/(m)');title('轮胎的位移');ylim([-0.03,0.03]);
rms=norm(xw-xg)/sqrt(length(dxb))*1000;%%%%%%%%%%%%%%%%%
fprintf('轮胎位移的均方根值为:\n%f\n',rms)
subplot(414)
plot(time,(xb-xw))
xlabel('时间/s');ylabel('SWS(t)');title('悬架的行程');text(0.2,0.15,0,'允许行程范围\pm100mm')
ylim([-0.2,0.2])
rms=norm(xb-xw)/sqrt(length(dxb))*1000;%%%%%%%%%%%%%%%%%
fprintf('悬架动行程均方根值为:\n%f\n.\n.\n.\n',rms)
%------------------------------------------------------
h1= findobj(0, 'Name', '被动悬架');
if isempty(h1),
h1=figure('Position',[500 187 652 387],...
'Name','被动悬架',...
'NumberTitle','off');
end
figure(h1)
set(h1,'color','w')
grid on
xlabel('时间/s');ylabel('xg/m');title('路面输入模型');ylim([-7,7]);
subplot(311)
plot(time,dxb1,'g')
xlabel('时间/s');ylabel('BA/(m/s^2)');title('车身振动加速度');
rms=norm(dxb1)/sqrt(length(dxb1));%%%%%%%%%%%%%%%%%
fprintf('被动悬架:\n车身急速的均方根值为:\n%f\n',rms)
subplot(312)
plot(time,(xw1-xg1),'c')
xlabel('时间/s');ylabel('DTD/(m)');title('轮胎的位移');ylim([-0.03,0.03]);
rms=norm(xw1-xg1)/sqrt(length(dxb))*1000;%%%%%%%%%%%%%%%%%
fprintf('轮胎位移的均方根值为:\n%f\n',rms)
subplot(313)
plot(time,(xb1-xw1))
xlabel('时间/s');ylabel('SWS(t)');title('悬架的行程');text(0.2,0.15,0,'允许行程范围\pm100mm');
ylim([-0.2,0.2]);
rms=norm(xb1-xw1)/sqrt(length(dxb))*1000;%%%%%%%%%%%%%%%%%
fprintf('悬架动行程均方根值为:\n%f\n',rms)
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