Bobsled report - -192.95 ; 0 0 ]; % U= [ 1.703; 0.305 ]; %...

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Bobsled Example <Bobsled.doc> Page 1 Define the A and B matrices in terms of the parameters % Bobsled_AB.m This file defines the A, B matrices. % % Parameters in SI units M1= 45.4; M2= 90.8; alpha= 0.1745; K= 17520; B0= 17.5; B1= 87.6; B12= 0.0; Lf= 0.305; g= 9.81; % % Matrices A(1,:)= [ -(B0+B12+B1)/M1, (B0+B12)/M1, -K/M1 ]; A(2,:)= [ (B0+B12)/M2, -(B0+B12)/M2, K/M2 ]; A(3,:)= [ 1, -1, 0 ]; % B= [ 1, K/M1 ; 1, -K/M2 ; 0, 0 ]; % % Since U is constant evaluate it here U= [ g*sin(alpha); Lf ]; % Define the state equations operationally function xdot= BobsledEqs(t,x) % This file defines the Bobsled equations in terms of A and B. U is constant. % % Parameters A= [ -2.3150 0.3855 -385.9031 ; 0.1927 -0.1927 192.9515 ; 1.0000 -1.0000 0 ]; % B= [ 1.0000 385.9 ; 1.0000
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Unformatted text preview: -192.95 ; 0 0 ]; % U= [ 1.703; 0.305 ]; % % State variable definitions % x(1)= v1 % x(2)= v2 % x(3)= L % % State equations % xdot= A*x + B*U; % return xdot as a column vector (not needed?) % Bobsled Example <Bobsled.doc> Page 2 Setup to simulate the response % Bobsled_setup.m % % Variables: x(1)= v1, velocity of mass 1 % x(2)= v2, velocity of mass 2 % x(3)= L, length of spring % % Run 1 ts= [0.0:0.01:7.5]; x0= [ 0; 0; 0.305 ]; % [t,x] = ode23( 'BobsledEqs',ts,x0 ); % v1= x(:,1); v2= x(:,2); L= x(:,3); % plot (t,v1,'k-',t,v2,'k:'); legend('v1 -','v2 :'); xlabel('time'); ylabel('v1, v2'); title('Run 1a for Bobsled model.') pause % plot (t,L,'k-'); xlabel('time'); ylabel('L'); title('Run 1b for Bobsled model.') pause % Bobsled Example <Bobsled.doc> Page 3...
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This note was uploaded on 07/25/2008 for the course ME 457 taught by Professor Rosenberg during the Spring '07 term at Michigan State University.

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Bobsled report - -192.95 ; 0 0 ]; % U= [ 1.703; 0.305 ]; %...

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