1E369-系横烈、分桥与控射 变量 x:位移[ i=v 2.1平功机被系峡瑰棋 v:速度[m/sec] i=i=a a:加速度[m/aec] :力NM p=f.v=f.i=w p:功率恤/aec] )=()+pdi)f.dt w:功恤、J刀 Schoel of Mechanical Engineering ME369-leeture 2.1 School of Mechanical Engineering Shanghai Jiao Tong University Fall 2015 Shanghai Jiao Tong University 模型元件 理想元件弹簧 惯性(Inertia)一质量(mass) x0 f()=m二 0=m dt dr2 刚度(Stiffness)-弹簧(spring) 最存动能Store Kinetic Energy) 人0=0-21=Kx) xn →0 厂=K(3-x) *r0 +0 =K)-g0a=K广0h W 奉擦Friction)一阻尼器Damper) E,I f0)=)-,(=B) -x(0) 露 =0_恋马1=B0 d 托後(Dissipate Energy Massless No Damping Linear Schoel of Mechanical Engineering ME369-leeture 2.1 School of Mechanical Engineering ME369-ecture 2.1 Shanshai lias Tong Unbrsraity Fall 2015 Shanghai Fsg Tona University Fall 2015 11 BE315-Lecture 2.1 Fall 2011 ME369-lecture 2.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University ME 369– 系统模型、分析与控制 2.1 平动机械系统建模 BE315-Lecture 2.1 Fall 2011 ME369-lecture 2.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 变量 x   v vxa     p  fv fx w    1 1 0 0 10 0 () () () ( )      t t t t w t w t pdt w t f x dt x: 位移 [m] v: 速度 [m/sec] a: 加速度 [m/sec2] f: 力 [N] p: 功率 [Nm/sec] w: 功 [Nm、J] BE315-Lecture 2.1 Fall 2011 ME369-lecture 2.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 模型元件 惯性(Inertia) --质量(mass) 刚度(Stiffness)--弹簧(spring) 摩擦(Friction)--阻尼器(Damper) 2 2 () () ( ) m dv t d x t ft m m dt dt   1 2 1 2 ( ) [ ( ) ( )] ( ) [ ( ) ( )] ( ) k t t f t K x t x t Kx t K v t v t dt K v t dt          1 2 1 2 ( ) [ ( ) ( )] ( ) () () ( ) [ ] Bf t B v t v t Bv t dx t dx t dx t B B dt dt dt      耗能（Dissipate Energy） 储存势能(Store Potential Energy) 储存动能(Store Kinetic Energy) BE315-Lecture 2.1 Fall 2011 ME369-lecture 2.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 理想元件-----------弹簧 2 1 ( ) sf  Kx x  Massless / No Damping / Linear K