moca.m

对超声电机摩擦驱动的仿真

function moca=moca(Fn)
% Fn=120;
br=0.0025;
hr=0.0005;
Er=5*10^8;
kr=Er*br/hr;
n=9;
e0=0.8;
Ap=n*e0;
R=0.03;
Rav=0.95*R;
rumda=2*pi*Rav/n;
k=2*pi/rumda;
x0=fzero('fz',0);
% Ey1=10.1*10^(8);
% Ey2=3*10^(8);
% r1=0.373;
% r2=0.27;
% Ce=(1-r1^2)/Ey1+(1-r2^2)/Ey2;
% x0=0.8*sqrt(Fn*2*R*Ce)
ud=0.15;
fk=41500;
w=2*pi*fk;
h0=0.0062;
Vsmax=k*h0*e0*w;
r=0.0262;
Mr1=zeros(1,16);
e=zeros(1,16);
for Vr=0:10:150
    xr(Vr/10+1)=acos(Vr/Vsmax)/k;
    e(Vr/10+1)=ud*Fn*(2*(sin(k*xr(Vr/10+1))-k*xr(Vr/10+1)*cos(k*xr(Vr/10+1)))-(sin(k*x0)-k*x0*cos(k*x0)))/(sin(k*x0)-k*x0*cos(k*x0));
    Mr1(Vr/10+1)=e(Vr/10+1)*r;
end
Mr=Mr1./100000;
figure(1)
Vr=0:10:150;
plot(Mr,Vr,'m');grid on;
xlabel('Mr');ylabel('Vr');
figure(2)
Vr=0:10:150;
plot(Mr,Vr,'r');hold on;grid on;
axis([0 10 0 200]);
xlabel('Mr');ylabel('Vr');