Laboratoriya mashg’uloti №4 Mavzu: Texnik ob’ektlarga immitatsion modellarni yaratish va tahlil etish. Ishning maqsadi

3.Simulink – model
1 – qadam. Ishchi katalogni joriy katalog sifatida ornating Current Directory.
2 – qadam. m – fayl ochamiz va uni tanlangan katalokga saqlaymiz va ozgaruvchilarni kiritamiz m, v, hole_depth, hole_length, hole_start, c, k va vaqt t1 chuqurga tushish va t2 chuqurdan chiqishni hisoblaymiz.
Clear all;
m=1000; % Avtomobil ogirligi (kg)
v=20; % Avtomobil harakatining tezligi (m/s)
k=1000; % Prujinaning bikirligi (kg/s^2)
c=100; % Amortizatsiya koeffitsienti (kg/s)
hole_start=100; % Yamagacha bolgan masofa (m)
hole_lenght=1; % Yamaning uzunligi (m)
hole_depth=0.15; % Yamaning chuqurlig (m)
t1=hole_start/v; % Yamaga kirish vaqti (s)
t2= (hole_start+hole­_lenght)/v; % G’ildirakning yamadan chiqish vaqti (s)
3 – qadam. Simulink – model faylini L0501.mdl faylini yaratamiz .
S – model konfiguratsiya parametrlarini kiritamiz start time = 0, stop time = 100, Solver Options Type = Fixed step, Solver = ode5 Dormand Prince, Fixed Step Size = 0.001.
4 – qadam. Gildirakning harakatini y1 ni ikkita sources | step bloklari orqali kiritamiz. Buning uchun:
Modelga step1 va step2 bloklarini kiritamiz;
Step1 blogiga quyidagi parametrlarni kiritamiz: Step time = t1; Initial value = 0; Final value = - hole_depth; Sample time = 0.001;
Step2 ga quyidagi parametrlarni ornatamiz: Step time = t2; Initial value = 0; Final value = hole_depth; Sample time = 0.001;

3 – rasm. Avtomobilning gildiragi harakatini modellashtirish

Signallarni Math operetions | Sum blogi orqali qoshamiz (3 - rasm).
Natijani Scope blogiga ulab organamiz va tegishli vaqt oralig'ini tanlab, modeldagi konfiguratsiya parametrlarini boshlash vaqti va to'xtash vaqtini modellashtirishni tekshiramiz.
5 – qadam. Continuous | Integrator bloglari orqali biz 4 – rasmda korsatilganidek, harakat tezligi va tezlanishini ozgarishini aniqlaymiz.



4 – rasm. Integrator blogidan foydalanish
6 – qadam. Prujinanig siqish kuchini hisobga olamiz (Spring Force). Buning uchun:
S – modelga Gain signal kuchaytirgichni kiritamiz uni Stiffness deb nomlaymiz va parametrini Gain = k deb belgilaymiz. Bu parameter prujinaning bikirligini beradi qiymati Workspase ishchi oynasiga yoziladi;
S – modelga Sum yigindi blogini kiritamiz va parametriga List of signs = | + - ;
Bloglarni 5 – rasmda korsatilgandek ulaymiz.

5 – rasm. Prujinanig bikirligi hisobga olingan modeli

7 – qadam. Porshanning qarshiligi va amortizatorning oz’aro tasiri kuchini hisobga olamiz (Damping Forse):
Modelga Gain signal kuchaytiruvchi blogini kiritamiz uni Damping Constant deb nomlaymiz va Gain = c deb belgilaymiz. Qiymatini Workspace ishchi oynasiga kiritamiz;
S – modelga Sum yigindi blogini kiritamiz va parametriga List of signs = | - - ;
Stiffness va Damping Constant bloglarini Sum blogi orqali ulaymiz. Blog har ikkala kuchni qoshadi va avtomobilga ta’sir qiluvchi kuch hosil qiladi.
Bloglarni 6 – rasmda korsatilgandek ulaymiz.

6 – rasm. Dempferlash va amortizatsiyalash kuchining yigindisi

8 – qadam. Tezlanishni hisoblaymiz. Buning uchun:
S – modelga signal kuchaytirgich Gain blogini kiritamiz uni Mass deb nomlaymiz va Gain = 1/m deb nomlaymiz. Qiymatni Workspace oynasiga kiritamiz;
Mass blogini avtomobilda ta'sir qiluvchi kuch summatorga ulab, Mass blogining chiqishida tezlanishga ega bolamiz.;
Mass blogini Velocity blogi bilan 7 – rasmdagidek ulang.

7 – rasm. Avtomobil harakatini hisoblash uchun toliq sistema

9 – qadam. Natijani vizualizatsiya qilish.
Sinks | Scope, blogini modelga kiritamiz va parametrlarini quyidagicha o’rnatamiz Parameters\Data History\Limit Data Points = off;