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LINEAR SYSTEM<br />
1Calculating Moment Applied to the Unit<br />
〈acceleration〉<br />
pitching<br />
Ma1=m・g・Xm−m・a1・( Z m − Z d )<br />
Ma1=30×9.8×(15)−30×1×{(20)−(30)}+15×9.8×(80)−15×1×{(100)−(30)}=15431N・mm<br />
yawing<br />
Ma2=−m・a1・( Y m − Y d )<br />
Ma2=−30×1×{(−20)−(10)}−15×1×{(50)−(10)}=300N・mm<br />
rolling<br />
Ma3=m・g・Ym<br />
Ma3=30×9.8×(−20)+15×9.8×(50)=1471N・mm<br />
〈constant〉<br />
pitching<br />
M1=m・g・X m<br />
M1=30×9.8×(15)+15×9.8×(80)=16181N・mm<br />
yawing<br />
rolling<br />
M2=0<br />
M3=m・g・Ym<br />
M3=30×9.8×(−20)+15×9.8×(50)=1471N・mm<br />
〈deceleration〉<br />
pitching<br />
Md1=m・g・X m+m・a 3・( Z m − Z d )<br />
Md1=30×9.8×(15)+30×1×{(20)−(30)}+15×9.8×(80)+15×1×{(100)−(30)}=16931N・mm<br />
yawing<br />
Md2=m・a 3・( Y m − Y d )<br />
Md2=30×1×{(−20)−(10)}+15×1×{(50)−(10)}=−300N・mm<br />
rolling<br />
Md3=m・g・Ym<br />
Md3=30×9.8×(−20)+15×9.8×(50)=1471N・mm<br />
2Calculating Load Applied to the Guide Block<br />
〈acceleration〉<br />
Block 1<br />
vertical<br />
direction<br />
Block 2<br />
Fra1=<br />
Fra1=<br />
horizontal Ma2<br />
direction Fsa1=<br />
2・L unit<br />
300<br />
Fsa1= =1.5N<br />
2×100<br />
vertical<br />
direction<br />
Fra2=<br />
horizontal<br />
direction<br />
30×9.8<br />
4<br />
30×9.8<br />
4<br />
Fra2=<br />
300<br />
Fsa2=− =−1.5N<br />
2×100<br />
m・g<br />
4 − Ma1<br />
2・L unit + Ma3<br />
2・L rail<br />
+ 15×9.8 − 15431<br />
4 2×100 + 1471<br />
m・g<br />
4 + Ma1<br />
2・L unit + Ma3<br />
2・L rail<br />
+ 15×9.8 + 15431<br />
4 2×100 + 1471<br />
Ma2<br />
Fsa2=−<br />
2・L unit<br />
=40.5N<br />
2×100<br />
=194.8N<br />
2×100<br />
Block 3<br />
Block 4<br />
vertical<br />
direction<br />
Fra3=<br />
horizontal<br />
direction<br />
vertical<br />
direction<br />
Fra4=<br />
horizontal<br />
direction<br />
〈constant〉<br />
Block 1<br />
vertical<br />
direction<br />
Block 2<br />
Block 3<br />
Block 4<br />
Fra3=<br />
Fsa3=<br />
300<br />
Fsa3= =1.5N<br />
2×100<br />
Fra4=<br />
300<br />
Fsa4=− =−1.5N<br />
2×100<br />
Fr1=<br />
horizontal<br />
direction<br />
vertical<br />
direction<br />
Fr2=<br />
horizontal<br />
direction<br />
vertical<br />
direction<br />
Fr3=<br />
horizontal<br />
direction<br />
vertical<br />
direction<br />
Fr4=<br />
horizontal<br />
direction<br />
30×9.8<br />
4<br />
30×9.8<br />
4<br />
30×9.8<br />
4<br />
30×9.8<br />
4<br />
30×9.8<br />
4<br />
30×9.8<br />
4<br />
m・g<br />
4 − Ma1<br />
2・L unit − Ma3<br />
2・L rail<br />
Ma2<br />
2・L unit<br />
m・g<br />
4 + Ma1<br />
2・L unit − Ma3<br />
2・L rail<br />
Ma2<br />
Fsa4= −<br />
2・L unit<br />
Fr1=<br />
Fs1=<br />
Fr2=<br />
Fs2= −<br />
Fr3=<br />
Fs3=<br />
Fr4=<br />
+ 15×9.8 − 15431<br />
4 2×100 − 1471<br />
+ 15×9.8 + 15431<br />
4 2×100 − 1471<br />
Fs4= −<br />
m・g<br />
4 − Md1<br />
2・L unit + Md3<br />
2・L rail<br />
+ 15×9.8 − 16181<br />
4 2×100 + 1471<br />
M2<br />
2・L unit<br />
m・g<br />
4 + M1<br />
2・L unit + M3<br />
2・L rail<br />
+ 15×9.8 + 16181<br />
4 2×100 + 1471<br />
M2<br />
2・L unit<br />
m・g<br />
4 − M1<br />
2・L unit − M3<br />
2・L rail<br />
+ 15×9.8 − 16181<br />
4 2×100 − 1471<br />
M2<br />
2・L unit<br />
m・g<br />
4 + M1<br />
2・L unit − M3<br />
2・L rail<br />
+ 15×9.8 + 16181<br />
4 2×100 − 1471<br />
M2<br />
2・L unit<br />
=25.8N<br />
2×100<br />
=180.1N<br />
2×100<br />
=36.8N<br />
2×100<br />
=198.6N<br />
2×100<br />
=22.1N<br />
2×100<br />
=183.9N<br />
2×100<br />
Eng-19<br />
Eng-20
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