模型元件 惯性(Inertia)-质量(mass) +x() +v() f()=m(=mdx( f( dt dr 刚度(Stiffness))-弹簧(spring) 储存动能(Store Kinetic Energy) +x(0 +3(0 f()=K[x()-x2)]=Kx() (0 ·2(0 =K(0-,d=K0)d f(() w f(() 摩擦(Friction)一阻尼器(Damper) 储存势能(Store Potential Energy) +1() 一0 fa()=B[(t)-(t】=Bv(t)） +x1(0 →2(0 =B@_本，凸]=B0 fu(1) fa(r) dt dt dt 耗能(Dissipate Energy School of Mechanical Engineering ME369-lecture 2.1 Shanghai Jiao Tong University Fall 2015 理想元件 弹簧 (2-x f=K(x2-x) E,I T Massless No Damping Linear School of Mechanical Engineering ME369-lecture 2.1 Shanghai Jiao Tong University Fall 20152 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