Page 584 - Mechatronics with Experiments

JWST499-Cetinkunt
JWST499-c07
570 MECHATRONICS Printer: Yet to Come October 9, 2014 8:41 254mm×178mm
x_db = 10 ;
C_he1 = 0.01 ∗ abs(x_s - x_db) ;
C_re1 = 0.01 ∗ abs(x_s - x_db) ;
C_he2 = 0.01 ∗ abs(x_s - x_db) ;
C_re2 = 0.01 ∗ abs(x_s - x_db) ;

% Initial conditions on head and rod-end volume of cylinder.

V_he0 = 0.01 ;
V_re0 = 0.01 ;

% Input conditions
x_s = 0.0 ; % Valve spool position. Change this as function of time
% to simulate a different condition.
p_p = 20∗10ˆ6 ; % Pump pressure
p_t = 0.0 ; % Tank pressure

y0 = 0.0 ; % Base motion
doty0= 0.0 ;
V_he = V_he0 + A_he∗(z(2) - z(1));
V_re = V_re0 + A_re∗(z(2) - z(1));

if x_s <= - x_db % Valve: flow-rate and pressure relation
Q_he = -C_he2 ∗ (abs(z(7)-p_t))ˆ0.5 ;
Q_re = -C_re2 ∗ (abs(p_p- z(8)))ˆ0.5 ;
elseif (-x_db < x_s && x_s < x_db)
Q_he = 0.0 ;
Q_re = 0.0 ;
elseif x_s >= x_db
Q_he = C_he1 ∗ (abs(p_p - z(7)))ˆ0.5 ;
Q_re = C_re1 ∗ (abs(z(8)-p_t))ˆ0.5 ;
end

if t<2.0 % Load force
F_load= 0.0 ;
elseif (t>= 2.0 & t<6.0)
F_load = 10000 ;
else
F_load = 0.0 ;
end

zdot=zeros(8,1);
zdot(1) = z(4) ;
zdot(2) = z(5) ;
zdot(3) = z(6) ;
zdot(4) = (1/m1)∗(-c1∗(z(4)-doty0)-k1∗(z(1)-y0)-(A_he∗z(7)-A_re∗z(8)));
zdot(5) = (1/m2)∗(-c3∗(z(5)-z(6))-k3∗(z(2)-z(3))+(A_he∗z(7)-A_re∗z(8)));
zdot(6) = (1/m3)∗(-c3∗(z(6)-z(5)) -k3∗(z(3)-z(2))-F_load) ;
zdot(7) = (beta/V_he)∗(Q_he-A_he∗(z(5)-z(4))) ;
zdot(8) = (beta/V_re)∗(-Q_re+A_re∗(z(5)-z(4))) ;

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