对在不平坦的表面上行驶的履带式车辆进行建模附simulink实现.zip

function Excv = sm_excv_track_param_machine % Defines parameters structure for excavator model % Copyright 2022-2023 The MathWorks, Inc % Call internal functions to assemble structure Excv.Contact = Contact_Force_Parameters; Excv.Chain = Excv_Chain_Param; Excv.Shoe = Excv_Shoe_Param; Excv.Frame = Excv_Frame_Param; Excv.Drive = Excv_Drive_Param; % The following functions require parameters from other pieces Excv.Roller = Excv_Roller_Param(Excv.Chain.plate_h, Excv.Shoe.pad_h, Excv.Shoe.w); Excv.Sprocket = Excv_Sprocket_Param(... Excv.Chain.chain_wid, Excv.Chain.plate_h, Excv.Shoe.pad_h,... Excv.Chain.pin_sep, Excv.Chain.pin_rad,... Excv.Shoe.w,... Excv.Roller.Lower.ground_contact.ptcld.npts,... Excv.Roller.Lower.ground_contact.rolling_radius); Excv.Idler = Excv_Idler_Param(Excv.Sprocket.sprocket_rPitch,... Excv.Chain.plate_h,Excv.Chain.chain_wid, ... Excv.Shoe.pad_h, Excv.Shoe.w,... Excv.Roller.Lower.ground_contact.ptcld.npts,... Excv.Roller.Lower.ground_contact.rolling_radius); Excv.Vis.Track = Excv_TrackVis_Param(Excv.Frame.IdlerAssyX,... Excv.Frame.Sprk2UpperX, ... Excv.Roller.Upper.rad, Excv.Frame.Sprk2UpperY,... Excv.Sprocket.sprocket_rPitch, Excv.Chain.plate_h, Excv.Shoe.pad_h); %% Contact parameters function CFP = Contact_Force_Parameters CFP.Idler.K = 1e7; CFP.Idler.B = 1e5; CFP.Idler.TW = 1e-3; CFP.Sprocket.K = 1e7; CFP.Sprocket.B = 1e5; CFP.Sprocket.TW = 1e-3; CFP.Roller.K = 1e7; CFP.Roller.B = 1e5; CFP.Roller.TW = 1e-3; end %% Chain Link function Chain = Excv_Chain_Param Chain.plate_thk = 0.013; % Plate thickness Chain.plate_h = 0.11; % Chain plate height % Offset between plates from one link to the next % Assumes half link chain Chain.plate_off = Chain.plate_thk+0.002; % Separation of pins along direction of the chain Chain.pin_sep = 0.2; % Calcluate hole separation along length of plate Chain.hole_sep = sqrt(Chain.plate_off^2 + Chain.pin_sep^2); % Calcluate hole separation along length of plate % Assumes half link chain Chain.plate_ang = atan2d(Chain.plate_off, Chain.pin_sep); % Radius of hole in plate Chain.hole_rad = 0.02; % Determine extrusion data for chain plate Chain.plate_xc = Extr_Data_LinkHoles(Chain.hole_sep,Chain.plate_h,Chain.hole_rad,2); % Separation of plates, measured at plate center Chain.chain_wid = 0.1530; % Determine extrusion data for chain plate Chain.plate_clr = [0.5 0.5 0.5]; Chain.plate_opc = 1; % Pin parameters Chain.pin_len = 0.2; Chain.pin_rad = 0.03; Chain.pin_clr = [0.8 0.8 0.8]; Chain.pin_opc = 1; % Mass parameters for entire link (two plates + 1 pin) Chain.link_m = 21.6; Chain.link_cg = [0.03 -0.02 0.0]; Chain.link_moi = [0.37 0.43 0.12]; Chain.link_poi = [0 0 0]; % Friction between chain links Chain.damping = 1; % Contact geometry Chain.roller_contact.clr = [1.0 0.0 0.2]; Chain.roller_contact.opc = 0; Chain.teeth_contact.clr = [1.0 0.0 0.0]; Chain.teeth_contact.opc = 0.5; end %% Sprocket function Sprocket = Excv_Sprocket_Param(chain_wid, chain_plate_h, shoe_pad_h,... pin_sep, pin_rad, shoe_w, roller_ptcld_npts, roller_rad) % Contact geometry % Sprocket width (must be narrower than chain) Sprocket.sprk_width = chain_wid*0.7; Sprocket.density = 6000; % kg/m^3 Sprocket.nTeeth = 22; % Number of teeth % Number of gaps a chain link will skip % skipTeeth = 1 means chain meshes every other sprocket gap Sprocket.skipTeeth = 1; % Calculate sprocket profile and pitch radius [temp_spr_pts, temp_rPitch] = Extr_Data_Sprocket(... Sprocket.nTeeth,Sprocket.skipTeeth,pin_sep,pin_rad); Sprocket.sprocket_xc = temp_spr_pts; Sprocket.sprocket_rPitch = temp_rPitch; % Use extrusion data to assemble point cloud for teeth contact Sprocket.teeth_contact.ptcld.pts = [temp_spr_pts zeros(size(temp_spr_pts,1),1)]; % Color, opacity Sprocket.clr = [0.5764706 0.61960787 0.6784314]; Sprocket.opc = 1; % Contact geometry for Teeth Sprocket.teeth_contact.ptcld.rad = 2e-3; Sprocket.teeth_contact.ptcld.clr = [1 0 0]; Sprocket.teeth_contact.ptcld.opc = 1; % Ground geometry for rolling contact Sprocket.ground_contact.rolling_radius = Sprocket.sprocket_rPitch+chain_plate_h/2+shoe_pad_h; sprk_cloud_rad = Sprocket.ground_contact.rolling_radius; % Ensure point cloud on sprocket has similar density (points per area) % to point cloud on roller npts_sprk = ceil(roller_ptcld_npts*sprk_cloud_rad/roller_rad); % Generate point cloud Sprocket.ground_contact.ptcld.pts = Point_Cloud_Data_Cylinder(sprk_cloud_rad,shoe_w,npts_sprk,0); % Contact geometry visual settings for point cloud ground contact Sprocket.ground_contact.ptcld.rad = 1e-2; Sprocket.ground_contact.ptcld.clr = [1 0 0]; Sprocket.ground_contact.ptcld.opc = 1; % Contact geometry visual settings for sphere ground contact Sprocket.ground_contact.sphere.clr = [0.78 0.3 0.3]; Sprocket.ground_contact.sphere.opc = 0.2; end %% Shoe with Grouser function Shoe = Excv_Shoe_Param % Shoe width (side-to-side) and length (fore-aft) Shoe.w = 0.6; % m Shoe.l = 0.2; % m %{ % Parameterized with symmetrical grouser Shoe.h = 0.03; Shoe.pad_h = 0.005; Shoe.grouser_wo = 0.019; Shoe.grouser_wi = 0.013; Shoe.xc = Extr_Data_ExcvShoe(... Shoe.l, Shoe.h,Shoe.pad_h,... Shoe.grouser_wo, Shoe.grouser_wi,3); %} % Load custom shoe profile xc = load('track_shoe_profile_0p2m.mat'); Shoe.xc = xc.track_shoe_profile_0p2m; % Depth of shoe plate Shoe.pad_h = 0.01; % Height of grouser tips Shoe.h = 0.0375; % Geometry settings Shoe.clr = [0.37254903 0.3254902 0.2]; Shoe.opc = 1; % Generate point cloud for plate contact temp_shoe_pts = Point_Cloud_Data_Square(Shoe.l,Shoe.w,[3 8]); Shoe.ptcld_sets.plate = [temp_shoe_pts(:,1) temp_shoe_pts(:,1)*0-Shoe.pad_h temp_shoe_pts(:,2)]; % Generate point cloud for grouser contact temp_grouserPtsInd = find(Shoe.xc(:,2)>Shoe.h*0.999); temp_grouserPts_w = linspace(0,Shoe.w,20)-Shoe.w/2; temp_shoe_ptcld_grousers = []; for temp_i = 1:length(temp_grouserPts_w) temp_shoe_ptcld_grousers = [ temp_shoe_ptcld_grousers; Shoe.xc(temp_grouserPtsInd,:).*[1 -1] ones(length(temp_grouserPtsInd),1)*temp_grouserPts_w(temp_i)]; end Shoe.ptcld_sets.grousers = temp_shoe_ptcld_grousers; % By default, only use point cloud on shoe plate Shoe.ground_contact.ptcld.pts = Shoe.ptcld_sets.plate; % Contact geometry visual settings for point cloud contact Shoe.ground_contact.ptcld.rad = 2e-3; Shoe.ground_contact.ptcld.clr = [1 1 0.06667]; Shoe.ground_contact.ptcld.opc = 1; % Custom mass settings for plate Shoe.mass = 5.