双鞋制动器

摩擦al brake with two pivoted shoes diametrically positioned about a rotating drum with triggered faulting

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Library:
Simscape / Driveline /刹车和棘爪/旋转

Description

The双鞋制动器block represents a frictional brake with two pivoted rigid shoes that press against a rotating drum to produce a braking action. The rigid shoes sit inside or outside the rotating drum in a diametrically opposed configuration. A positive actuating force causes the rigid shoes to press against the rotating drum. Viscous and contact friction between the drum and the rigid shoe surfaces cause the rotating drum to decelerate.

Double-shoe brakes provide high braking torque with small actuator deflections in applications that include motor vehicles and some heavy machinery. The model employs a simple parameterization with readily accessible brake geometry and friction parameters.

You can also enable faulting. When faulting occurs, the belt will exert a user-specified force. Faults can occur at a specified time or due to an external trigger at portT。

Equations

In the schematic, a) represents an internal double-shoe brake, and b) represents an external double-shoe brake. In both configurations, a positive actuation forceFbrings the shoe and drum friction surfaces into contact. The result is a friction torque that causes deceleration of the rotating drum. Zero and negative forces do not bring the shoe and drum friction surfaces into contact and produce zero braking torque.

该模型使用长鞋近似。导致和拖鞋发展的摩擦扭矩方程是：

$T_{L S} = \frac{c μ p_{a} r_{D}^{2} (\cos θ_{s b} - \cos θ_{s})}{\sin θ_{a}},$

$T_{T S} = \frac{c μ p_{b} r_{D}^{2} (\cos θ_{s b} - \cos θ_{s})}{\sin θ_{a}},$

$c = r_{a} + r_{p} \cos θ_{p},$

在哪里for $0 \leq. θ_{s} \leq. \frac{π}{2}$ ,

$θ_{a} = θ_{s},$

和for $θ_{s} \geq \frac{π}{2}$ ,

$θ_{a} = \frac{π}{2} 。$

在哪里：

T_LS.is the brake torque the leading shoe develops.
T_TS.制动扭矩是尾随鞋的发展。
μis the effective contact friction coefficient.
p_a是领先的鞋子滚筒接触中的最大线性压力。
p_bis the maximum linear pressure in the trailing shoe-drum contact.
r_Dis the drum radius.
θ_SB.是鞋子开始角度。
θ_s是鞋面角度。
θ_a是铰接销的角度，以最大压力点。
cis the arm length of the cylinder force with respect to the hinge pin.
r_pis the pin location radius.
θ_p是铰链销位置角度。
r_ais the actuator location radius.

The model assumes that only Coulomb friction acts at the shoe-drum surface contact. Zero relative velocity between the drum and the shoes produces zero Coulomb friction. To avoid discontinuity at zero relative velocity, the friction coefficient formula employs the hyperbolic function

$μ = μ_{C o u l o m b} \tanh (\frac{4 ω_{s h a f t}}{ω_{t h r e s h o l d}}),$

在哪里:

μis the effective contact friction coefficient.
μ_库仑is the contact friction coefficient.
ω_shaftis the shaft velocity.
ω_thresholdis the angular velocity threshold.

Balancing the moments that act on each shoe with respect to the pin yields the pressure acting at the shoe-drum surface contact. The equations for determining the balance of moments for the leading shoe are

$F = \frac{M_{N} - M_{F}}{c},$

$M_{N} = \frac{p_{a} r_{p} r_{D}}{\sin θ_{a}} (\frac{1}{2} [θ_{s} - θ_{s b}] - \frac{1}{4} [\sin 2 θ_{s} - \sin 2 θ_{s b}]),$

和

$M_{F} = \frac{μ p_{a} r_{D}}{\sin θ_{a}} (r_{D} [\cos θ_{s b} - \cos θ_{s}] + \frac{r_{p}}{4} [\cos 2 θ_{s} - \cos 2 θ_{s b}]),$

在哪里:

F是致动力。
M_Nis the moment acting on the leading shoe due to normal force.
M_F是由于摩擦力引起的领先鞋的时刻。
cis the arm length of the cylinder force with respect to the hinge pin.
p_ais the maximum linear pressure at the shoe-drum contact surface.
r_pis the pin location radius.
θ_p是铰链销位置角度。
r_ais the actuator location radius.

The model does not simulate self-locking brakes. If brake geometry and friction parameters cause a self-locking condition, the model produces a simulation error. A brake self-locks if the friction moment exceeds the moment due to normal forces, that is, whenM_F>M_N。

尾随鞋的时刻平衡是

$F = \frac{M_{N} + M_{F}}{c} 。$

净制动扭矩是

$T = T_{L S} + T_{T S} + μ_{v i s c} * ω_{s h a f t},$

在哪里μ_viscis the viscous friction coefficient.

Faulty Behavior

启用故障时，响应于这些触发器中的一个或两个，应用皮带力：

模拟时间 - 在指定时间发生故障。
模拟行为 - 响应外部触发时发生故障。这暴露了港口T。

If a fault trigger occurs, the input force is replaced by the断层时的带力剩余模拟的价值。价值0意味着不会发生制动。相对大的值意味着制动器被卡住。

您可以将块设置为与Simulink诊断查看器中的警告或错误消息发出故障报告金宝appReporting when fault occurs范围。

热模型

您可以通过曝光可选的热端口来模拟热流和温度变化的影响。暴露港口，在摩擦settings, set theThermal Port参数到Model。Exposing the port also exposes or changes the default value for these related settings, parameters, and variables:

摩擦>Temperature
摩擦>Static friction coefficient vector
摩擦>库仑摩擦系数矢量
摩擦>接触摩擦系数vector
Thermal Port>热质量
Variables>Temperature

Variables

Use theVariablessettings to set the priority and initial target values for the block variables before simulating. For more information, seeSet Priority and Initial Target for Block Variables。

依赖性

Variable settings are visible only when, in the摩擦settings, theThermal portparameter is set toModel。

限制和假设

Contact angles smaller than 45° produce less accurate results.
制动器使用长鞋近似。
制动几何形状不自锁。
该模型不考虑执行器流量消耗。

Ports

Input

展开全部

`F`— Actuating force
物理信号

物理与应用程序相关的信号输入端口lied actuating force.

`T`— External fault trigger
物理信号

Physical signal port for an external fault trigger. Triggering occurs when the value is greater than 0.5. There is no unit associated with the trigger value.

依赖性

This port is visible whenEnable faultsis set to在和启用外部故障触发is set to在。

保守

展开全部

`S`- 鼓轴旋转
rotational mechanical

与旋转鼓轴相关联的旋转节约口。

`H`— Heat flow
thermal

热保守口与热流相关。

依赖性

This port is visible only when, in the摩擦settings, theThermal Portparameter is set toModel。

Exposing this port makes related settings visible.

Parameters

展开全部

Geometry

`鼓半径`— Contact surface radius
`150.毫米`（默认）|positive scalar

Radius of the drum contact surface. The value must be greater than zero.

`执行器位置半径`— Center-to-center distance between drum and force line of action
`100.毫米`（默认）|positive scalar

Distance between the drum center and the force line of action. The value must be greater than zero.

`Pin location radius`— Center-to-center distance between hinge pin and drum
`125.毫米`（默认）|positive scalar

铰链销和鼓中心之间的距离。参数必须大于零。

`PIN位置角度`- 从铰链销到制动对称轴的角距离
`15.deg`（默认）|非负标量

角坐标的铰链销的位置the brake symmetry axis. The value must be greater than or equal to zero.

`Shoe beginning angle`- 捆扎销和摩擦材料之间的角度
`5deg`（默认）|positive scalar

铰链销之间的角度和鞋的摩擦材料亚麻的开始。参数的值必须在范围内0≤θ._SB.≤.(π-pin location angle)。

`Shoe span angle`- 摩擦材料角度
`120.deg`（默认）|positive scalar

Angle between the beginning and the end of the friction material linen on the shoe. The value of the parameter must be in the range0 <θ._SB.≤.(π -pin location angle - shoe beginning angle)。

摩擦

`粘性摩擦系数`- 粘性摩擦
`.01n * m /（rad / s）`（默认）|nonnegatvie scalar.

粘性摩擦系数at the contact surface. The value must be greater than or equal to zero.

`Thermal port`- 热模型
`Omit`（默认）|`Model`

Model for heat flow and temperature change:

Omit— Neglect thermal dynamics.
Model- 包括热动态。

依赖性

When this parameter is set toModel, thermal portH和related settings are visible.

`Temperature`— Temperature
`[280, 300, 320]K`（默认）|增加载体

Array of temperatures used to construct a 1-D temperature-efficiency lookup table. The array values must increase left to right.

依赖性

This parameter is only visible when theThermal Portparameter is set toModel。

`接触摩擦系数`— Coulomb friction
`0.3`（默认）|`[0.1,0.05,0.03]`（热模型默认）|正标量或矢量

在带式鼓接触表面处的库仑摩擦系数。该值必须大于零。对于热模型：

向量中的元素数量必须与指定向量中的元素数相同Temperatureparameter
值增加到右侧。
每个值必须大于零。

依赖性

This parameter is specified as a:

标量时Thermal Portparameter is set toOmit。
Vector when theThermal Portparameter is set toModel。

`Angular velocity threshold`- 近稳态接触摩擦所需的旋转速度
`0.01Rad / S.`（默认）|positive scalar

接触摩擦系数实际上达到其稳态值的角速度。该值必须大于零。

Faults

`Enable faults`- 故障选项
`Off`（默认）|`在`

Enable externally or temporally triggered faults. When faulting occurs, the brake belt force normally received at portF将设置为中指定的值断层时的带力范围。

`断层时的带力`- 设置故障皮带力
`0 N`（默认）|positive scalar

Set faulted belt force. When faulting occurs, the brake belt force normally received at portF将设置为中指定的值断层时的带力范围。价值0意味着没有发生制动。相对大的值意味着制动器被卡住。

依赖性

To enable this parameter, setEnable faults到在。

`启用外部故障触发`— External trigger option
`Off`（默认）|`在`

Enables portT。端口处的物理信号Tthat is greater than0.5触发错误。

依赖性

To enable this parameter, setEnable faults到在。

`Enable temporal fault trigger`- 时间触发器选项
`Off`（默认）|`在`

在指定的时间启用故障触发。当。。。的时候Simulation time for fault event达到，通常在端口接收的制动带部力F将设置为中指定的值断层时的带力范围。

依赖性

To enable this parameter, setEnable faults到在。

`Simulation time for fault event`- 触发故障的时间
`5 s`（默认）|positive scalar

当。。。的时候Simulation time for fault event达到，通常在端口接收的制动带部力F将设置为中指定的值断层时的带力范围。

依赖性

To enable this parameter, setEnable faults到在和Enable temporal fault trigger到在。

`Reporting when fault occurs`— Fault condition report
`None`（默认）|`Warning`|`错误`

报告对故障状况的偏好。报告设置为Warning要么错误, a message is displayed in the Simulink Diagnostic Viewer. When错误选择，如果发生故障，模拟将停止。

依赖性

To enable this parameter, setEnable faults到在。

Thermal Port

`热质量`- 抗温度变化
`50.kJ/K`（默认）|标量

Thermal energy required to change the component temperature by a single degree. The greater the thermal mass, the more resistant the component is to temperature change.

依赖性

此参数仅在此时可见摩擦settings, theThermal Portparameter is set toModel。

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双鞋制动器

Description

Equations

Faulty Behavior

热模型

Variables

限制和假设

Ports

Input

F— Actuating force物理信号

T— External fault trigger物理信号

依赖性

保守

S- 鼓轴旋转rotational mechanical

H— Heat flowthermal

依赖性

Parameters

Geometry

鼓半径— Contact surface radius150.毫米（默认）|positive scalar

执行器位置半径— Center-to-center distance between drum and force line of action100.毫米（默认）|positive scalar

Pin location radius— Center-to-center distance between hinge pin and drum125.毫米（默认）|positive scalar

PIN位置角度- 从铰链销到制动对称轴的角距离15.deg（默认）|非负标量

Shoe beginning angle- 捆扎销和摩擦材料之间的角度5deg（默认）|positive scalar

Shoe span angle- 摩擦材料角度120.deg（默认）|positive scalar

摩擦

粘性摩擦系数- 粘性摩擦.01n * m /（rad / s）（默认）|nonnegatvie scalar.

Thermal port- 热模型Omit（默认）|Model

依赖性

Temperature— Temperature[280, 300, 320]K（默认）|增加载体

依赖性

接触摩擦系数— Coulomb friction0.3（默认）|[0.1,0.05,0.03]（热模型默认）|正标量或矢量

依赖性

Angular velocity threshold- 近稳态接触摩擦所需的旋转速度0.01Rad / S.（默认）|positive scalar

Faults

Enable faults- 故障选项Off（默认）|在

断层时的带力- 设置故障皮带力0 N（默认）|positive scalar

依赖性

启用外部故障触发— External trigger optionOff（默认）|在

依赖性

Enable temporal fault trigger- 时间触发器选项Off（默认）|在

依赖性

Simulation time for fault event- 触发故障的时间5 s（默认）|positive scalar

依赖性

Reporting when fault occurs— Fault condition reportNone（默认）|Warning|错误

依赖性

Thermal Port

热质量- 抗温度变化50.kJ/K（默认）|标量

依赖性

扩展能力

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See Also

Topics

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`F`— Actuating force
物理信号

`T`— External fault trigger
物理信号

`S`- 鼓轴旋转
rotational mechanical

`H`— Heat flow
thermal

`鼓半径`— Contact surface radius
`150.毫米`（默认）|positive scalar

`执行器位置半径`— Center-to-center distance between drum and force line of action
`100.毫米`（默认）|positive scalar

`Pin location radius`— Center-to-center distance between hinge pin and drum
`125.毫米`（默认）|positive scalar

`PIN位置角度`- 从铰链销到制动对称轴的角距离
`15.deg`（默认）|非负标量

`Shoe beginning angle`- 捆扎销和摩擦材料之间的角度
`5deg`（默认）|positive scalar

`Shoe span angle`- 摩擦材料角度
`120.deg`（默认）|positive scalar

`粘性摩擦系数`- 粘性摩擦
`.01n * m /（rad / s）`（默认）|nonnegatvie scalar.

`Thermal port`- 热模型
`Omit`（默认）|`Model`

`Temperature`— Temperature
`[280, 300, 320]K`（默认）|增加载体

`接触摩擦系数`— Coulomb friction
`0.3`（默认）|`[0.1,0.05,0.03]`（热模型默认）|正标量或矢量

`Angular velocity threshold`- 近稳态接触摩擦所需的旋转速度
`0.01Rad / S.`（默认）|positive scalar

`Enable faults`- 故障选项
`Off`（默认）|`在`

`断层时的带力`- 设置故障皮带力
`0 N`（默认）|positive scalar

`启用外部故障触发`— External trigger option
`Off`（默认）|`在`

`Enable temporal fault trigger`- 时间触发器选项
`Off`（默认）|`在`

`Simulation time for fault event`- 触发故障的时间
`5 s`（默认）|positive scalar

`Reporting when fault occurs`— Fault condition report
`None`（默认）|`Warning`|`错误`

`热质量`- 抗温度变化
`50.kJ/K`（默认）|标量

C / C ++代码生成
使用Simulink®Coder™生成C和C ++代码。金宝app