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y1
X1 X2
Sendo:
m Massa do pndulo;
M1 Massa do carro 1;
M2 Massa do carro 1;
l comprimento do pndulo;
I inercia do pndulo;
1 1
K pen= m ( x2p + y2p )+ I 2
2 2
1 1
K car = M 2 x 22 + M 1 x 12
2 2
1 1 1 1
K= m ( x2p + y2p )+ I 2 + M 2 x 22 + M 1 x 12
2 2 2 2
Onde:
x p=x+ lcos()
y p=lsen ()
1 1 1 1
2
[ 2
K= m ( x + lcos ( ) ) + (lsen()
2
]
) + I 2+ M 2 x 22 + M 1 x 12
2 2 2
Simplificando temos:
1 1 1
K= ( M +m ) x2 +ml x cos ( ) + ( I + ml 2 ) 2+ M 1 x12
2 2 2
P p=mgl (1cos ( ))
K 2
Ps = ( x2 x1 ) +C ( x 1)
2
K
( x x ) +C ( x1)
2
P=mgl ( 1cos ( )) +
2 2 1
L=K P
1 1 K 1
L= ( M +m ) x2 + ml x 2 cos ( ) + ( I +ml ) mgl ( cos ( ) 1 ) + ( x 2x 1) +C ( x1 ) + M 1 x1
2 2 2 2 2
2 2 2 2
Aplicando Euler-Lagrange, temos que:
d L L
( )( )
dt
=0
d L L
( )( )
dt x2
x2
=f
d L L
( )( )
dt x1
x1
=0
L
=( M + m ) x2+ ml cos ( ) +C
x2
L K
=
x2 2
L 1
= M x +C x1
x1 2 1 1
L K
=
x1 2
L
=ml x2 cos ( ) + ( m l 2+l )
L
=mlgsen ( )ml sen()
d L
( )
dt x2
=( M + m ) x2+ ml cos ( )ml 2 sen()
d L 1
( ) = M 1 x1 +C x1
dt x1 2
d L
( )
dt
=ml x2 cos ( )ml x2 sen ( )+ ( ml 2 + I )
Expandindo a equao utilizando a serie de Taylor e truncando no primeiro
terno termos:
d L
( )
dt x2
=( M + m ) x2+ ml
d L
( )
dt
=ml x2 + ( m l2 + I )
d L 1
( ) = M x +C x1
dt x1 2 1 1
d L L
Equaes lagrangianas ficam: ( )( )
dt x2
x2
=f
( M + m ) x +ml =f
d L L
( )( )
dt
=0
ml x2+ ( ml 2 + I ) =0
d L L
( )( )
dt x1
x1
=0
1 K
M 1 x 1 +C x1=0
2 2
A=
B=
C=x 2
D= x2
E=x 1
A partir das definies das variveis de estados e das equaes (?) e (?),
obtm-se:
A=B
M 2+m A 1 f
B=
M 2l M2 l
C=D
m A + 1 f
D=
M2 M2
= K
E
M 1+ 2C
0
0
1
0
0
0
0 1 0
M 2 +m
0 00 0
M2 l K
0
0 0 0 M 1+ 2C
m 0 0
M2 0 0
A=
[]
0
1
M 2l
B= 0
1
M2
0
[ ]
0 1 0 0
6 0 0 0
A= 0 0 1 0
0,05 0 0 0
0 0 0 0,2