自动控制原理机械模型建模

1、

对于$m_1$
$$f=m_1{\ddot{x}}_1+k_1(x_1-x_2)+b_1({\dot{x}}_1-{\dot{x}}_2)$$
对于$m_2$
$$m_2\ddot{x_2}=k_1(x_1-x_2)+b_1({\dot{x}}_1-{\dot{x}}_2)-b_2{\dot{x}}_2$$
消去$x_2$
$$\frac{X_1(s)}{F(s)}=\frac{m_2{s}^2+(b_1+b_2)s+k}{\Delta }$$
消去$x_1$
$$\frac{X_2(s)}{F(s)}=\frac{b_{1}s+k}{\Delta }$$
其中
$$\Delta =m_1{m}_2{s}^4+(b_1{m}_1+b_2{m}_1+b_1{m}_2)s^3+(k{m}_1+b_1{b}_2+k{m}_2)s^2+k{b}_{2}s$$

2、

对于$m_1$
$$f=m_1{\ddot{x}}_1+k_1(x_1-x_2)+b_1({\dot{x}}_1-{\dot{x}}_2)+b_1{\dot{x}}_1$$
对于$m_2$
$$m_2\ddot{x_2}=k_1(x_1-x_2)+b_1({\dot{x}}_1-{\dot{x}}_2)$$
消去$x_2$
$$\frac{X_1(s)}{F(s)}=\frac{b_{2}s+k}{\Delta }$$
其中
$$\Delta =m_1{m}_2{s}^3+(b_2{m}_1+b_1{m}_2+k)s^2+(k{m}_1+b_1{b}_2+k{m}_2)s+k{b}_1$$

3、

设绳子两端拉力为$T_1$和$T_2$，对于$m_1$
$$m_1\ddot{x}=-T_1$$
对于$m_2$
$$m_2\ddot{y}=-ky+T_1+T_2$$
动滑轮的转动惯量为
$$J\ddot{\theta }=(T_1-T_2)r$$
动滑轮垂直移动的距离为$x=2y$，动滑轮转动的距离为
$$2\pi r\frac{\theta }{2\pi }=x-y\to r\theta =y$$
化简可得
$$\frac{Y(s)}{X(s)}=-\frac{-2m_1{s}^2}{(m_2+\frac{J}{r^2})s^2+k}$$
其中
$$J=\frac{1}{2}{m}_{2}r$$

4、

对于$m_1$
$$m_1{\ddot{x}}_1=k_1(x_2-x_1)$$
对于$m_2$
$$f=m_2{\ddot{x}}_2+b{\dot{x}}_2+k_2{x}_2-k_1(x_1-x_2)$$
消去$x_2$
$$\frac{X_1(s)}{F(s)}=\frac{k_1}{m_1{m}_2{s}^4+b{m}_1{s}^3+(k_1{m}_1+k_2{m}_1+m_1)s^2+b{k}_{1}s+k_1{k}_2}$$

5、

对于$m_1$
$$f_1-b({\dot{x}}_1-{\dot{x}}_2)=m_1{\ddot{x}}_1+k{x}_1$$
对于$m_2$
$$f_2+b({\dot{x}}_1-{\dot{x}}_2)=m_2{\ddot{x}}_2+k{x}_2$$
令$f_2=0$
$$\frac{X_1(s)}{F_1(s)}=\frac{m_2{s}^2+bs+k_2}{\Delta }\frac{X_2(s)}{F_1(s)}=\frac{bs}{\Delta }$$
令$f_1=0$
$$\frac{X_1(s)}{F_2(s)}=\frac{bs}{\Delta }\frac{X_2(s)}{F_2(s)}=\frac{m_1{s}^2+bs+k_1}{\Delta }$$
其中
$$\Delta =m_1{m}_2{s}^4+b(m_1+m_2)s^3+(k_1{m}_2+k_2{m}_1)s^2+b(k_1+k_2)s+k_1{k}_2$$