1、
对于
m
1
m_1
m1
f
=
m
1
x
¨
1
+
k
1
(
x
1
−
x
2
)
+
b
1
(
x
˙
1
−
x
˙
2
)
f=m_1\ddot{x}_1+k_1(x_1-x_2)+b_1(\dot{x}_1-\dot{x}_2)
f=m1x¨1+k1(x1−x2)+b1(x˙1−x˙2)
对于
m
2
m_2
m2
m
2
x
2
¨
=
k
1
(
x
1
−
x
2
)
+
b
1
(
x
˙
1
−
x
˙
2
)
−
b
2
x
˙
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
m2x2¨=k1(x1−x2)+b1(x˙1−x˙2)−b2x˙2
消去
x
2
x_2
x2
X
1
(
s
)
F
(
s
)
=
m
2
s
2
+
(
b
1
+
b
2
)
s
+
k
Δ
\frac{X_1(s)}{F(s)}=\frac{m_2s^2+(b_1+b_2)s+k}{\Delta}
F(s)X1(s)=Δm2s2+(b1+b2)s+k
消去
x
1
x_1
x1
X
2
(
s
)
F
(
s
)
=
b
1
s
+
k
Δ
\frac{X_2(s)}{F(s)}=\frac{b_1s+k}{\Delta}
F(s)X2(s)=Δb1s+k
其中
Δ
=
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
\Delta=m_1m_2s^4+(b_1m_1+b_2m_1+b_1m_2)s^3+(km_1+b_1b_2+km_2)s^2+kb_2s
Δ=m1m2s4+(b1m1+b2m1+b1m2)s3+(km1+b1b2+km2)s2+kb2s
2、
对于
m
1
m_1
m1
f
=
m
1
x
¨
1
+
k
1
(
x
1
−
x
2
)
+
b
1
(
x
˙
1
−
x
˙
2
)
+
b
1
x
˙
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
f=m1x¨1+k1(x1−x2)+b1(x˙1−x˙2)+b1x˙1
对于
m
2
m_2
m2
m
2
x
2
¨
=
k
1
(
x
1
−
x
2
)
+
b
1
(
x
˙
1
−
x
˙
2
)
m_2\ddot{x_2}=k_1(x_1-x_2)+b_1(\dot{x}_1-\dot{x}_2)
m2x2¨=k1(x1−x2)+b1(x˙1−x˙2)
消去
x
2
x_2
x2
X
1
(
s
)
F
(
s
)
=
b
2
s
+
k
Δ
\frac{X_1(s)}{F(s)}=\frac{b_2s+k}{\Delta}
F(s)X1(s)=Δb2s+k
其中
Δ
=
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
\Delta=m_1m_2s^3+(b_2m_1+b_1m_2+k)s^2+(km_1+b_1b_2+km_2)s+kb_1
Δ=m1m2s3+(b2m1+b1m2+k)s2+(km1+b1b2+km2)s+kb1
3、
设绳子两端拉力为
T
1
T_1
T1和
T
2
T_2
T2,对于
m
1
m_1
m1
m
1
x
¨
=
−
T
1
m_1\ddot{x}=-T_1
m1x¨=−T1
对于
m
2
m_2
m2
m
2
y
¨
=
−
k
y
+
T
1
+
T
2
m_2\ddot{y}=-ky+T_1+T_2
m2y¨=−ky+T1+T2
动滑轮的转动惯量为
J
θ
¨
=
(
T
1
−
T
2
)
r
J\ddot{\theta}=(T_1-T_2)r
Jθ¨=(T1−T2)r
动滑轮垂直移动的距离为
x
=
2
y
x=2y
x=2y,动滑轮转动的距离为
2
π
r
θ
2
π
=
x
−
y
→
r
θ
=
y
2\pi r\frac{\theta}{2\pi}=x-y \rightarrow r\theta=y
2πr2πθ=x−y→rθ=y
化简可得
Y
(
s
)
X
(
s
)
=
−
−
2
m
1
s
2
(
m
2
+
J
r
2
)
s
2
+
k
\frac{Y(s)}{X(s)}=-\frac{-2m_1s^2}{(m_2+\frac{J}{r^2})s^2+k}
X(s)Y(s)=−(m2+r2J)s2+k−2m1s2
其中
J
=
1
2
m
2
r
J=\frac{1}{2}m_2r
J=21m2r
4、
对于
m
1
m_1
m1
m
1
x
¨
1
=
k
1
(
x
2
−
x
1
)
m_1\ddot{x}_1=k_1(x_2-x_1)
m1x¨1=k1(x2−x1)
对于
m
2
m_2
m2
f
=
m
2
x
¨
2
+
b
x
˙
2
+
k
2
x
2
−
k
1
(
x
1
−
x
2
)
f=m_2\ddot{x}_2+b\dot{x}_2+k_2x_2-k_1(x_1-x_2)
f=m2x¨2+bx˙2+k2x2−k1(x1−x2)
消去
x
2
x_2
x2
X
1
(
s
)
F
(
s
)
=
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
\frac{X_1(s)}{F(s)}=\frac{k_1}{m_1m_2s^4+bm_1s^3+(k_1m_1+k_2m_1+m_1)s^2+bk_1s+k_1k_2}
F(s)X1(s)=m1m2s4+bm1s3+(k1m1+k2m1+m1)s2+bk1s+k1k2k1
5、
对于
m
1
m_1
m1
f
1
−
b
(
x
˙
1
−
x
˙
2
)
=
m
1
x
¨
1
+
k
x
1
f_1-b(\dot{x}_1-\dot{x}_2)=m_1\ddot{x}_1+kx_1
f1−b(x˙1−x˙2)=m1x¨1+kx1
对于
m
2
m_2
m2
f
2
+
b
(
x
˙
1
−
x
˙
2
)
=
m
2
x
¨
2
+
k
x
2
f_2+b(\dot{x}_1-\dot{x}_2)=m_2\ddot{x}_2+kx_2
f2+b(x˙1−x˙2)=m2x¨2+kx2
令
f
2
=
0
f_2=0
f2=0
X
1
(
s
)
F
1
(
s
)
=
m
2
s
2
+
b
s
+
k
2
Δ
X
2
(
s
)
F
1
(
s
)
=
b
s
Δ
\frac{X_1(s)}{F_1(s)}=\frac{m_2s^2+bs+k_2}{\Delta} \quad \frac{X_2(s)}{F_1(s)}=\frac{bs}{\Delta}
F1(s)X1(s)=Δm2s2+bs+k2F1(s)X2(s)=Δbs
令
f
1
=
0
f_1=0
f1=0
X
1
(
s
)
F
2
(
s
)
=
b
s
Δ
X
2
(
s
)
F
2
(
s
)
=
m
1
s
2
+
b
s
+
k
1
Δ
\frac{X_1(s)}{F_2(s)}=\frac{bs}{\Delta} \quad \frac{X_2(s)}{F_2(s)}=\frac{m_1s^2+bs+k_1}{\Delta}
F2(s)X1(s)=ΔbsF2(s)X2(s)=Δm1s2+bs+k1
其中
Δ
=
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
\Delta=m_1m_2s^4+b(m_1+m_2)s^3+(k_1m_2+k_2m_1)s^2+b(k_1+k_2)s+k_1k_2
Δ=m1m2s4+b(m1+m2)s3+(k1m2+k2m1)s2+b(k1+k2)s+k1k2