活塞连杆机构的外文和翻译.docx
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活塞连杆机构的外文和翻译.docx
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活塞连杆机构的外文和翻译
ModelingandSimulationoftheDynamicsofCrankshaft-
ConnectingRod-Piston-CylinderMechanismandaUniversalJointUsingTheBondGraphApproach
Abstract
Thispaperdealswithmodelingandsimulationofthedynamicsoftwocommonlyusedmechanisms,
(1)theCrankshaft–Connectingrod–Piston–Cylindersystem,and
(2)theUniversalJointsystem,usingtheBondGraphApproach.Thisalternativemethodofformulationofsystemdynamics,usingBondGraphs,offersarichsetoffeaturesthatinclude,pictorialrepresentationofthedynamicsoftranslationandrotationforeachlinkofthemechanismintheinertialframe,representationandhandlingofconstraintsatjoints,depictionofcausality,obtainingdynamicreactionforcesandmomentsatvariouslocationsinthemechanism,algorithmicderivationofsystemequationsinthefirstorderstate-spaceorcauseandeffectform,codingforsimulationdirectlyfromtheBondGraphwithoutderivingsystemequations,andsoon.
Keywords:
BondGraph,Modeling,Simulation,Mechanisms.
1Modeling
Dynamicsoftwocommonlyusedmechanisms,
(1)theCrankshaft–Connectingrod–Piston–Cylindersystem,and
(2)theUniversalJointsystem,aremodeledandsimulatedusingtheBondGraphApproach.Thisalternativemethodofformulationofsystemdynamics,usingBondGraphs,offersarichsetoffeatures[1,2].Theseinclude,pictorialrepresentationofthedynamicsoftranslationandrotationforeachlinkofthemechanismintheinertialframe,depictionofcauseandeffectrelationship,representationandhandlingofconstraintsatjoints,obtainingthedynamicreactionforcesandmomentsatvariouslocationsinthemechanism,derivationofsystemequationsinthefirstorderstate-spaceorcauseandeffectform,codingforsimulationdirectlyfromtheBondGraphwithoutderivingsystemequations.Usuallythelinksofmechanismsaremodeledasrigidbodies.
Inthiswork,wedevelopandapplyamultibondgraphmodelrepresentingbothtranslationandrotationofarigidbodyforeachlink.Thelinksarethencoupledatjointsbasedonthenatureofconstraint[3-5].Bothtranslationalandrotationalcouplingsforjointsaredevelopedandintegratedwiththedynamicsoftheconnectinglinks.Aproblemofdifferentialcausalityatlinkjointsariseswhilemodeling.Thisisrectifiedusingadditionalstiffnessanddampingelements.Itmakesthemodelmorerealistic,bringingineffectsofcomplianceanddissipationatjoints,withindefinabletolerancelimits.MultibondGraphmodelsfortheCrankshaft–Connectingrod–Piston–Cylindersystem,and,theUniversalJointsystem[6],aredevelopedusingtheBondGraphApproach.ReferenceframesarefixedoneachrigidlinkofthemechanismsusingtheDenavit-Hartenbergconvention[7].Thetranslationaleffectisconcentratedatthecenterofmassforeachrigidlink.Rotationaleffectisconsideredintheinertialframeitself,byconsideringtheinertiatensorforeachlinkaboutitsrespectivecenterofmass,andexpressedintheinertialframe.Themultibondgraphisthencausaledandcoding
inMATLAB,forsimulation,iscarriedoutdirectlyfromtheBondGraph.AsketchofthecrankshaftmechanismisshowninFig.1,anditsmultibondgraphmodelisshowninFig.2.AsketchoftheUniversaljointsystemisshowninFig.3,anditsmultibondgraphmodelisshowninFig.4.Resultsobtainedfromsimulationofthedynamicsofthesemechanismsarethenpresented.
1.1Crankshaft-ConnectingRod-Piston-CylinderMechanism
Fig.1showsthesketchofthe“Crankshaft–Connectingrod–Piston–Cylindersystem.”
Fig.1:
Crankshaft-ConnectingRod-Piston-CylinderMechanism.
Theindividualcomponentsareconsideredasrigidlinks,connectedatjoints.Thefirstmovinglinkisthecrank,thesecondlinkistheconnectingrodandthethirdlinkisthepiston.Aframeisfixedoneachlink.Thusframe1isfixedonlink1,frame2onlink2,andframe3onlink3.Afixedinertialframe0,whoseorigincoincideswithframe1,ischosen.However,itwillneitherrotatenortranslate.C1,C2andC3arecentresofmassofrespectivelinks.TheframesarefixedonrespectivelinksusingtheDenavit-Hartenbergconvention[4].
DynamicsofthesystemofFig.1ismodeledinthemultibondgraphshowninFig.2.Themodeldepictsrotationaswellastranslationforeachlinkinthesystem.Theleftsideofthebondgraphshowstherotationalpartandrightpartshowsthetranslationalpart.WerestrictanymotionbetweentheoriginofinertialframeOandpointonthelink1thatisO1byapplyingsourceofflowSfaszero.SimilarlywerestrictanyrelativemotionatpointA,distinguishedbyA1onlink1andA2onlink2,byapplyingsourceofflowSfaszero.Thepistonwhichislink3,isconstrainedtotranslateonlyalongtheX0direction.TranslationalongY0andZ0directionisconstrainedbyapplyingsourceofflow
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