弹簧悬吊子系统模型推导

弹簧悬吊子系统模型推导

弹簧悬吊系统是一种在刚性轻绳末端串联弹簧的悬吊系统。现有的文献大多考虑不含弹簧的悬吊系统（吊车等），少数考虑弹簧悬吊的文献模型建立则不够清晰，因此，有必要自己从基本定理建立一个弹簧悬吊系统，用于后续的仿真实验。

已有的悬吊系统大多采用Lagrange建模方法，该方法不考虑系统内部的约束力，而是直接从能量角度出发建立模型。可见，在悬吊系统中使用该方法建模优于使用牛顿法。本文同样使用Lagrange方法建立了弹簧悬吊子系统的模型。

坐标系和符号定义

$x_o$、$y_o$：吊绳上端的坐标，正方向见参考系设定；时变量；

$x_p$、$y_p$：吊绳负载的坐标，正方向见参考系设定；时变量；

$l$：绳子的绳长，此处认为绳子轻质；当绳子可延长时为时变量；

$\theta$：吊绳与竖直方向的夹角，取逆时针方向为正；时变量；

$k$：弹簧刚度；常量；

$u$：弹簧伸长量；时变量；

$m$：负载质量；常量

拉格朗日方程

首先写出拉格朗日方程的一般形式：
$$\frac{\mathrm{d}}{\mathrm{d}t}\frac{\partial L}{\partial \dot{q}}-\frac{\partial L}{\partial q}=0$$
其中$q$是广义坐标，$t$是时间；$L$是拉格朗日函数，构造方式如下：
$$L=T-V$$
$T$是系统动能，$V$是系统势能。

能量项

$$T=\frac{m}{2}({\dot{x}}_p^2+{\dot{y}}_p^2)$$

取$x$轴所在线为零势能线，则有
$$V=\frac{1}{2}k{u}^2+mg(-y_p)$$

几何关系

考虑绳全程绷直，有：
$$\begin{gathered} x_p=x_o+(l+u)\sin \theta \\ {y}_p=y_o+(l+u)\cos \theta \end{gathered}$$
两边对时间求导得到速度关系：
$$\begin{gathered} {\dot{x}}_p={\dot{x}}_o+(\dot{l}+\dot{u})\sin \theta +(l+u)\dot{\theta }\cos \theta \\ {\dot{y}}_p={\dot{y}}_o+(\dot{l}+\dot{u})\cos \theta -(l+u)\dot{\theta }\sin \theta \end{gathered}$$
继续对时间求导得到加速度关系：
$$\begin{gathered} {\ddot{x}}_p={\ddot{x}}_o+(\ddot{l}+\ddot{u})\sin \theta +2(\dot{l}+\dot{u})\dot{\theta }\cos \theta +(l+u)\ddot{\theta }\cos \theta -(l+u){\dot{\theta }}^2\sin \theta \\ {\ddot{y}}_p={\ddot{y}}_o+(\ddot{l}+\ddot{u})\cos \theta -2(\dot{l}+\dot{u})\dot{\theta }\sin \theta -(l+u)\ddot{\theta }\sin \theta -(l+u){\dot{\theta }}^2\cos \theta \end{gathered}$$

代入计算

取两个广义坐标$u$、 $\theta$，则拉格朗日函数各项计算如下。

首先计算动能项对两个广义坐标速率的偏导：
$$\begin{array}{r}\frac{\partial T}{\partial \dot{u}}=\frac{\partial T}{\partial {\dot{x}}_p}\frac{\partial {\dot{x}}_p}{\partial \dot{u}}+\frac{\partial T}{\partial {\dot{y}}_p}\frac{\partial {\dot{y}}_p}{\partial \dot{u}}\\ \frac{\partial T}{\partial \dot{\theta }}=\frac{\partial T}{\partial {\dot{x}}_p}\frac{\partial {\dot{x}}_p}{\partial \dot{\theta }}+\frac{\partial T}{\partial {\dot{y}}_p}\frac{\partial {\dot{y}}_p}{\partial \dot{\theta }}\end{array}$$
右边的各项代入后计算得到：
$$\begin{array}{rl}\frac{\partial T}{\partial \dot{u}}=& \frac{m}{2}\cdot 2{\dot{x}}_p\sin \theta +\frac{m}{2}\cdot 2{\dot{y}}_p\cos \theta \\ \frac{\partial T}{\partial \dot{\theta }}=& \frac{m}{2}\cdot 2{\dot{x}}_p(l+u)\cos \theta -\frac{m}{2}\cdot 2{\dot{y}}_p(l+u)\sin \theta \end{array}$$
涉及到$x_p$等部分暂时不打开。

接着计算势能项对两个广义坐标速率的偏导：
$$\begin{array}{rl}\frac{\partial V}{\partial \dot{u}}=& 0\\ \frac{\partial V}{\partial \dot{\theta }}=& 0\end{array}$$
因此拉格朗日函数中关于广义速率的偏导数项有：
$$\begin{array}{rl}\frac{\partial L}{\partial \dot{u}}=\frac{\partial T}{\partial \dot{u}}=& \frac{m}{2}\cdot 2{\dot{x}}_p\sin \theta +\frac{m}{2}\cdot 2{\dot{y}}_p\cos \theta \\ \frac{\partial L}{\partial \dot{u}}=\frac{\partial T}{\partial \dot{\theta }}=& \frac{m}{2}\cdot 2{\dot{x}}_p(l+u)\cos \theta -\frac{m}{2}\cdot 2{\dot{y}}_p(l+u)\sin \theta \end{array}$$
上面两项对时间求导后得到：
$$\begin{array}{rl}\frac{\mathrm{d}}{\mathrm{d}t}\frac{\partial L}{\partial \dot{u}}=& m{\ddot{x}}_p\sin \theta +m{\dot{x}}_p\dot{\theta }\cos \theta +m{\ddot{y}}_p\cos \theta -m{\dot{y}}_p\dot{\theta }\sin \theta \\ \frac{\mathrm{d}}{\mathrm{d}t}\frac{\partial L}{\partial \dot{\theta }}=& m(l+u){\ddot{x}}_p\cos \theta +m(\dot{l}+\dot{u}){\dot{x}}_p\cos \theta -m(l+u){\dot{x}}_p\dot{\theta }\sin \theta \\ & -m(l+u){\ddot{y}}_p\sin \theta -m(\dot{l}+\dot{u}){\dot{y}}_p\sin \theta -m(l+u){\dot{y}}_p\dot{\theta }\cos \theta \end{array}$$
计算动能项对两个广义坐标的偏导：
$$\begin{array}{r}\frac{\partial T}{\partial u}=\frac{\partial T}{\partial {\dot{x}}_p}\frac{\partial {\dot{x}}_p}{\partial u}+\frac{\partial T}{\partial {\dot{y}}_p}\frac{\partial {\dot{y}}_p}{\partial u}\\ \frac{\partial T}{\partial \theta }=\frac{\partial T}{\partial {\dot{x}}_p}\frac{\partial {\dot{x}}_p}{\partial \theta }+\frac{\partial T}{\partial {\dot{y}}_p}\frac{\partial {\dot{y}}_p}{\partial \theta }\end{array}$$
右边的各项代入后计算得到：
$$\begin{array}{rl}\frac{\partial T}{\partial u}=& m{\dot{x}}_p\dot{\theta }\cos \theta -m{\dot{y}}_p\dot{\theta }\sin \theta \\ \frac{\partial T}{\partial \theta }=& m{\dot{x}}_p(\dot{u}\cos \theta -u\dot{\theta }\sin \theta )+m{\dot{y}}_p(-\dot{u}\sin \theta -u\dot{\theta }\cos \theta )\end{array}$$
计算势能项对两个广义坐标的偏导：
$$\begin{array}{rl}\frac{\partial V}{\partial u}=& -mg\cos \theta +ku\\ \frac{\partial V}{\partial \theta }=& mg(l+u)\sin \theta \end{array}$$
拉格朗日函数中关于广义速率的偏导数项有：
$$\begin{array}{rl}\frac{\partial L}{\partial u}=& m{\dot{x}}_p\dot{\theta }\cos \theta -m{\dot{y}}_p\dot{\theta }\sin \theta +mg\cos \theta -ku\\ \frac{\partial L}{\partial \theta }=& m{\dot{x}}_p\dot{u}\cos \theta -m{\dot{x}}_{p}u\dot{\theta }\sin \theta -m{\dot{y}}_p\dot{u}\sin \theta -m{\dot{y}}_{p}u\dot{\theta }\cos \theta -mg(l+u)\sin \theta \end{array}$$
综上，拉格朗日方程如下：
$$\begin{array}{rl}& m{\ddot{x}}_p\sin \theta +m{\dot{x}}_p\dot{\theta }\cos \theta +m{\ddot{y}}_p\cos \theta -m{\dot{y}}_p\dot{\theta }\sin \theta -(m{\dot{x}}_p\dot{\theta }\cos \theta -m{\dot{y}}_p\dot{\theta }\sin \theta +mg\cos \theta -ku)=0\\ & m(l+u){\ddot{x}}_p\cos \theta +m(\dot{l}+\dot{u}){\dot{x}}_p\cos \theta -m(l+u){\dot{x}}_p\dot{\theta }\sin \theta -m(l+u){\ddot{y}}_p\sin \theta -m(\dot{l}+\dot{u}){\dot{y}}_p\sin \theta -m(l+u){\dot{y}}_p\dot{\theta }\cos \theta \\ & -(m{\dot{x}}_p\dot{u}\cos \theta -m{\dot{x}}_{p}u\dot{\theta }\sin \theta -m{\dot{y}}_p\dot{u}\sin \theta -m{\dot{y}}_{p}u\dot{\theta }\cos \theta -mg(l+u)\sin \theta )=0\end{array}$$
观察关于$u$的拉格朗日方程可知，2、4项可与5、6项抵消，因此有：
$$m{\ddot{x}}_p\sin \theta +m{\ddot{y}}_p\cos \theta -mg\cos \theta +ku=0$$
代入$x_p$等表达得：
$$m{\ddot{x}}_o\sin \theta +m{\ddot{y}}_o\cos \theta +m(\ddot{l}+\ddot{u})-m(l+u){\dot{\theta }}^2-mg\cos \theta +ku=0$$
观察关于$\theta$的拉格朗日方程可知，2、3、5、6项可与7、8、9、10项抵消，因此有：
$$m(l+u){\ddot{x}}_p\cos \theta -m(l+u){\ddot{y}}_p\sin \theta +mg(l+u)\sin \theta =0$$
代入$x_p$等表达得：
$$m(l+u)({\ddot{x}}_o\cos \theta -{\ddot{y}}_o\sin \theta +2(\dot{l}+\dot{u})\theta +(l+u)\ddot{\theta })+mg(l+u)\sin \theta =0$$
消去共同因子有：
$${\ddot{x}}_o\cos \theta -{\ddot{y}}_o\sin \theta +2(\dot{l}+\dot{u})\theta +(l+u)\ddot{\theta }+mg(l+u)\sin \theta =0$$

弹簧悬吊的拉格朗日方程

$$\begin{array}{rl}m{\ddot{x}}_o\sin \theta +m{\ddot{y}}_o\cos \theta +m(\ddot{l}+\ddot{u})-m(l+u){\dot{\theta }}^2-mg\cos \theta +ku=& 0\\ {\ddot{x}}_o\cos \theta -{\ddot{y}}_o\sin \theta +2(\dot{l}+\dot{u})\theta +(l+u)\ddot{\theta }+g\sin \theta =& 0\end{array}$$