Funciones S V A J para el Seguidor

Movimiento Armnico Simple ( SHM )

Elevacin

Retorno

h
1 cos
2


h
v
sin
2

h
1 cos
2


h
v
sin
2

2 h
cos
2
2

3
h
j 3 sin
2

(5)

(6)

2 h
cos
2
2

3
h
j 3 sin
2

Donde: h elevacin total, es el ngulo del eje de la leva, y es el ngulo total del
intervalo de elevacin.

Movimiento Cicloidal
Elevacin

Retorno

sin 2

h

v 1 cos 2

h

a 2 2 sin 2

s h

j 4 2

(7)

h

cos 2
3

1

s h 1
sin 2
2

h

v 1 cos 2

h

a 2 2 sin 2

j 4 2

(8)

h

cos 2
3

Aceleracin Trapezoidal Modificada

0 /8

s h 0.38898448 0.0309544 sin 4

h

v 0.38898448 1 cos 4

a 4.888124

h

sin 4
2

(9.1)

j 61.425769

/8 3 /8

h

cos 4
3

s=

h 2.44406184

v=

4.888124

0.22203097

0.00723407

0.22203097

(9.2)

a = 4.888124 2
j=0
3 /8
5 /8

0.0309544 sin 4

1.6110154 0.38898448 cos 4

0.3055077

s = h 1.6110154

h
v=

(9.3)

sin 4

2

j = 61.425769 3 cos 4

a = 4.888124

5 /8
7 /8

s=

h 2.44406184

h
4.888124

h
a = 4.888124 2

v=

4.6660917

4.6660917

1.2292648

(9.4)

j=0
7 /8

0.0309544 sin 4
3

v = 0.38898448 1 cos 4 3
(9.5)

a = 4.888124 2 sin 4 3

j = 61.425769 3 cos 4 3

s = h 0.6110154 0.38898448

Aceleracin Senosoidal Modificada

0 /8

0.0350062 sin 4

h

v = 0.43990085 1 cos 4

s = h 0.43990085

h

sin 4
2

j = 69.4663577 3 cos 4

(10.1)

a = 5.5279571

/8 7 /8

0.31505577 cos

3 6
4

(10.2)
3 6

s = h 0.28004957 0.43990085

1 3 sin

4
h

a = 5.5279571 2 cos

3 6

v = 0.43990085

j = 23.1553
7 /8

4
h
sin

3 6

0.0350062 sin 2 2 1

2 1
(10.3)

s = h 0.56009915 0.43990085

1 cos 2

h
a = 5.5279571 2 sin 2 2 1

h
j = 69.4663577 3 cos 2 2 1

v = 0.43990085

Polinomio 3 - 4 - 5
Elevacin
3

15

s h 10

2


h
60
v 30

h
180

a 2 60



j

120

h
360

60 360

30

(14)

Polinomio 4 - 5 - 6 - 7
Elevacin

s h 35

84

70

20

(15)