Datos de camin aproximados sin considerar las masa de

las ruedas como en la figura pero con amortiguacin

> restart:
Constante de los neumticos delanteros
> knd:=500000:
Constante de los neumticos traseros

> knt:=1000000:
masa del conjunto rueda delantera
> md:=140:
masa del conjunto rueda trasera
> mt:=280:
Constantes de resortes y amortiguadores de eje delantero
> Krd:=330000;
cad:=25000;
Krd := 330000
cad := 25000
Constantes de resortes y amortiguadores de eje tractor
> Krt:=3200000:
cam_t:=27000:
Constantes de resortes y amortiguadores de tercer eje
> Krte:=2700000:
cam_tt:=14500:
masa del tractor
> Mtrac:=6500:
Inercia de cabeceo
> Iphi:=7800:
Inercia transversal
> Ipsi:=2000:
carga
> Q:=10500*9.8;
Q := 102900.0
Trocha
> Troch:=1.969:
Distancia del CG a la carga
> a:=4.5:
Distancia del CG al eje delantero
> b:=1.2:
Distancia del CG al eje tractor
> c:=3.5:
Distancia del CG al tercer eje
> d:=5.5:
Carga en el eje delantero en reposo
> Qd:=5820*9.8;
Qd := 57036.0
Carga en el eje tractor en reposo
> Qtt:=(Q+Mtrac*9.8-Qd)/2;
Qtt := 54782.00000
Carga en el tercer eje en reposo

> Qte:=(Q+Mtrac*9.8-Qd)/2;
Qte := 54782.00000
Deformacin inicial del tren delantero (neumtico y resorte)
> Defneudel:=Qd/(2*knd);
Defneudel := 0.05703600000
> Defresdel:=Qd/(2*Krd);
Defresdel := 0.08641818180
Deformacin inicial del tren tractor (neumtico y resorte)
> Defneuejtr:=Qtt/(2*knt);
Defneuejtr := 0.02739100000
> Defresejtr:=Qtt/(2*Krt);
Defresejtr := 0.008559687500
Deformacin inicial del tren delantero (neumtico y resorte)
> Defneutereje:=Qte/(2*knt);
Defneutereje := 0.02739100000
> Defrestereje:=Qte/(2*Krt);
Defrestereje := 0.008559687500
condiciones del piso
> xs1:=0:
> xs2:=0:
> xs3:=funcsalto:
> xs4:=0:
> xs5:=0:
> xs6:=0:
variables
> x:=x9;
phi:=x7;
psi:=x8;
V_phi:=v7;
V_psi:=v8;
v:=v9;

x := x9
:= x7
:= x8
V_phi := v7
V_psi := v8
v := v9
> x1:=0;
v1:=0;
x2:=0;
v2:=0;
X4:=0;
v4:=0;
x5:=0;
v5:=0;
x6:=0;
v6:=0;

x1 := 0
v1 := 0
x2 := 0
v2 := 0
X4 := 0
v4 := 0
x5 := 0
v5 := 0
x6 := 0
 v6 := 0

Formulacin de ecuacin de equilibrio rueda delantera

izquierda
> Fn1:=knd*(xs1-x1);
Fn1 := 0
> Fr1:=Krd*(xch1-x1);
Fr1 := 330000 x9396000.0 x7324885.0000 x8
> Fa1:=cad*(vch1-v1);
Fa1 := 25000 v930000.0 v724612.50000 v8
> xch1:=x-b*phi+(Troch/2)*psi;
xch1 := x91.2 x70.9845000000 x8
> vch1:=v-b*V_phi+(Troch/2)*V_psi;
vch1 := v91.2 v70.9845000000 v8
> Equ1:=-Fn1-Fr1-Fa1-md*9.8+md*A1;
Equ1 := 1372.0330000 x9396000.0 x7324885.0000 x825000 v9
30000.0 v724612.50000 v8140 A1
>
Formulacin de ecuacin de equilibrio rueda delantera
derecha
> Fn2:=knd*(xs2-x2);
Fn2 := 0
> Fr2:=Krd*(xch2-x2);
Fr2 := 330000 x9396000.0 x7324885.0000 x8
> Fa2:=cad*(vch2-v2);
Fa2 := 25000 v930000.0 v724612.50000 v8
> xch2:=x-b*phi-(Troch/2)*psi;
xch2 := x91.2 x70.9845000000 x8
> vch2:=v-b*V_phi-(Troch/2)*V_psi;
vch2 := v91.2 v70.9845000000 v8
> Equ2:=-Fn2-Fr2-Fa2-md*9.8+md*A2;
Equ2 := 1372.0330000 x9396000.0 x7324885.0000 x825000 v9
30000.0 v724612.50000 v8140 A2
>
Formulacin de ecuacin de equilibrio rueda izquierda
del eje tractor
> Fn3:=knt*(xs3-x3);
Fn3 := 1000000 funcsalto 1000000 x3
> Fr3:=Krt*(xch3-x3);
Fr3 := 3200000 x90.112000000 10 8 x70.3150400000 10 7 x83200000 x3
> Fa3:=cam_t*(vch3-v3);
Fa3 := 27000 v994500.0 v726581.50000 v827000 v3
> xch3:=x+c*phi+(Troch/2)*psi;
xch3 := x93.5 x70.9845000000 x8
> vch3:=v+c*V_phi+(Troch/2)*V_psi;
vch3 := v93.5 v70.9845000000 v8

> Equ3:=-Fn3-Fr3-Fa3-mt*9.8+mt*A3;
Equ3 := 1000000 funcsalto 4200000 x33200000 x90.112000000 10 8 x7
0.3150400000 10 7 x827000 v994500.0 v726581.50000 v827000 v3
2744.0 280 A3

Formulacin de ecuacin de equilibrio rueda derecha del

eje tractor
> Fn4:=knt*(xs4-x4);
Fn4 := 1000000 x4
> Fr4:=Krt*(xch4-x4);
Fr4 := 3200000 x90.112000000 10 8 x70.3150400000 10 7 x83200000 x4
> Fa4:=cam_t*(vch4-v4);
Fa4 := 27000 v994500.0 v726581.50000 v8
> xch4:=x+c*phi-(Troch/2)*psi;
xch4 := x93.5 x70.9845000000 x8
> vch4:=v+c*V_phi-(Troch/2)*V_psi;
vch4 := v93.5 v70.9845000000 v8
> Equ4:=-Fn4-Fr4-Fa4-mt*9.8+mt*A4;
Equ4 := 4200000 x43200000 x90.112000000 10 8 x70.3150400000 10 7 x8
27000 v994500.0 v726581.50000 v82744.0 280 A4

Formulacin de ecuacin de equilibrio rueda izquierda

del tercer eje
> Fn5:=knt*(xs5-x5);
Fn5 := 0
> Fr5:=Krte*(xch5-x5);
Fr5 := 2700000 x90.148500000 10 8 x70.2658150000 10 7 x8
> Fa5:=cam_tt*(vch5-v5);
Fa5 := 14500 v979750.0 v714275.25000 v8
> xch5:=x+d*phi+(Troch/2)*psi;
xch5 := x95.5 x70.9845000000 x8
> vch5:=v+d*V_phi+(Troch/2)*V_psi;
vch5 := v95.5 v70.9845000000 v8
> Equ5:=-Fn5-Fr5-Fa5-mt*9.8+mt*A5;
Equ5 := 2744.0 2700000 x90.148500000 10 8 x70.2658150000 10 7 x8
14500 v979750.0 v714275.25000 v8280 A5

Formulacin de ecuacin de equilibrio rueda derecha del

tercer eje
> Fn6:=knt*(xs6-x6);
Fn6 := 0
> Fr6:=Krte*(xch6-x6);
Fr6 := 2700000 x90.148500000 10 8 x70.2658150000 10 7 x8
> Fa6:=cam_tt*(vch6-v6);
Fa6 := 14500 v979750.0 v714275.25000 v8
> xch6:=x+d*phi-(Troch/2)*psi;
xch6 := x95.5 x70.9845000000 x8
> vch6:=v+d*V_phi-(Troch/2)*V_psi;
vch6 := v95.5 v70.9845000000 v8
> Equ6:=-Fn6-Fr6-Fa6-mt*9.8+mt*A6;
Equ6 := 2744.0 2700000 x90.148500000 10 8 x70.2658150000 10 7 x8
14500 v979750.0 v714275.25000 v8280 A6
>
Formulacin de ecuacin de equilibrio de chasis
>
Equ9:=(Fr1+Fa1+Fr2+Fa2+Fr3+Fa3+Fr4+Fa4+Fr5+Fa5+Fr6+Fa6)+Mtrac
*A9;
Equ9 := 6500 A912460000 x90.513080000 10 8 x7288500.0 v7133000 v9
3200000 x327000 v33200000 x4
> Equ7:=(-1)*(Fr1+Fa1+Fr2+Fa2)*b+(Fr3+Fa3+Fr4+Fa4)*c+
(Fr5+Fa5+Fr6+Fa6)*d+Iphi*A7;
Equ7 := 0.513080000 10 8 x90.2427004000 10 9 x7288500.0 v9
0.161075000 10 7 v70.112000000 10 8 x394500.0 v30.112000000 10 8 x4
7800 A7
> Equ8:=(-1)*(Fr2+Fa2+Fr4+Fa4+Fr6+Fa6)*Troch/2+
(Fr1+Fa1+Fr3+Fa3+Fr5+Fa5)*Troch/2+Ipsi*A8;
Equ8 := 0.1207673352 10 8 x8128908.9532 v80.3150400000 10 7 x4
0.3150400000 10 7 x326581.50000 v32000 A8

Armado de matrices de sistema

Matriz de rigidez:
> K:=Matrix(3):
> for i from 1 to 3 do
for j from 1 to 3 do
K[i,j]:=coeff(Equ||(i+6),x||(j+6))
od:
od:
> K;
0.2427004000 10 9 0 0.513080000 10 8

0 0.1207673352 10 8 0
8
0.513080000 10 0 12460000
Matriz de Amortiguamiento
> C:=Matrix(3):
> for i from 1 to 3 do
for j from 1 to 3 do
C[i,j]:=coeff(Equ||(i+6),v||(j+6))
od:
od:
> C;
0.161075000 10 7 0 288500.0

0 128908.9532 0
288500.0 0 133000
Matriz de masas reducidas
> M:=Matrix(3):
> for i from 1 to 3 do
for j from 1 to 3 do
M[i,j]:=coeff(Equ||(j+6),A||(i+6))
od:
od:
> M;
7800 0 0

0 2000 0

0 0 6500
Resolucin del sistema para un caso particular
Como vamos a aplicar el mtodo de Laplace y de la funcin de impedancia mecnica, se
debe encontrar la matriz de impedancia mecnica en funcin de S que es la variable que se
usa para la trasformacin de laplace.
> Z:=s^2*M+s*C+K;
7800 s 20.161075000 10 7 s0.2427004000 10 9 , 0 , 288500.0 s0.513080000 10 8

Z := 0 , 2000 s 2128908.9532 s0.1207673352 10 8 , 0


288500.0 s 0.513080000 10 8
, 0 , 6500 s 2
133000 s 12460000
carga de un paquete de maple para obtener la matriz inversa
> wat(Linear Algebra):
Deterinacin de la matriz inversa o matriz fucnin de transfeerencia G
> G:=MatrixInverse(Z):
Formacin del vector de acciones externas.
> funtrnsf:=evalf(G[3,3]);
funtrnsf := ( 2000. s 2128908.9532 s0.1207673352 10 8 )
( 156. s 232215. s0.4854008 10 7 ) ( 0.1141431473 10 15 s4
0.8344697328 10 16 s 30.5104488916 10 18 s 20.6503007082 10 19 s
0.9456954780 10 200.2028000000 10 10 s 60.5910046786 10 12 s 5 )

> with( DynamicSystems ):

> sys1 :=TransferFunction(funtrnsf):
> ImpulseResponsePlot(sys1, 1 );

> R:=Matrix(3,1);
 0
R := 0

0
seguidamente se propone la funcin de excitacin que es un escaln de 10cm(0,1m) que
debe superar la rueda delantera izquierda
> xo(t):=piecewise(t>0 and t< 0.1,t,t>0.1 and t< .2,0.1,t>3 ,
0);
t 0t and t0.1

xo( t ) := 0.1 0.1t and t0.2

0 3t
> Vo(t):=diff(xo(t),t);
0. t0.

Float ( undefined ) t0.
1. t0.1000000000

Vo ( t ) := Float ( undefined ) t0.1000000000

0. t0.2000000000
Float ( undefined ) t0.2000000000

0. 0.2000000000 t
>
> F1(t):=-coeff(Equ7,x3)*xo(t)-coeff(Equ7,v3)*Vo(t);
t 0t and t0.1
8
F1 ( t ) := 0.112000000 10 0.1 0.1t and t0.2
0 3t

0. t0.

Float ( undefined) t0.
1. t0.1000000000

94500.0 Float ( undefined) t0.1000000000

0. t0.2000000000

Float ( undefined) t0.2000000000

0. 0.2000000000 t
a misma se debe transformar de variable mediante la trasformada de Laplace, para ello se
carga otro paquete de maple
> with(inttrans):
> FS1:=laplace(F1(t), t, s);
 ( 0.1000000000s )
3500. ( 3200.1. e ( 3200.27. s ) )
FS1 := 2.
s
( 0.2000000000s )
3500. ( 27.320. e )

s1.
Luego esa funcin se cara en el vector columna de los trminos independientes o fuerzas de
estimulo, en este caso en el nodo 1
> R[1,1]:=FS1:
> F2(t):=-coeff(Equ8,x3)*xo(t)-coeff(Equ8,v3)*Vo(t);
t 0t and t0.1
7
F2 ( t ) := 0.3150400000 10 0.1 0.1t and t0.2
0 3t

0. t0.

Float ( undefined) t0.
1. t0.1000000000

26581.50000 Float ( undefined) t0.1000000000

0. t0.2000000000

Float ( undefined) t0.2000000000

0. 0.2000000000 t
a misma se debe transformar de variable mediante la trasformada de Laplace, para ello se
carga otro paquete de maple
> FS2:=laplace(F2(t), t, s);
( 0.1000000000 s )
984.5000000 ( 3200. 1. e ( 3200. 27. s ) )
FS2 := 2.
s
( 0.2000000000 s )
984.5000000 ( 27.320. e )

s1.
Luego esa funcin se cara en el vector columna de los trminos independientes o fuerzas de
estimulo, en este caso en el nodo 1
> R[2,1]:=FS2:
> F3(t):=-coeff(Equ9,x3)*xo(t)-coeff(Equ9,v3)*Vo(t);
t 0t and t0.1

F3 ( t ) := 3200000 0.1 0.1t and t0.2

0 3t
 0. t0.

Float( undefined) t0.
1. t0.1000000000

27000 Float( undefined) t0.1000000000

0. t0.2000000000

Float( undefined) t0.2000000000

0. 0.2000000000 t
a misma se debe transformar de variable mediante la trasformada de Laplace, para ello se
carga otro paquete de maple
> FS3:=laplace(F3(t), t, s);
( 0.1000000000s )
1000. ( 3200.1. e ( 3200.27. s ) )
FS3 := 2.
s
( 0.2000000000s )
1000. ( 27.320. e )

s1.
Luego esa funcin se cara en el vector columna de los trminos independientes o fuerzas de
estimulo, en este caso en el nodo 1
> R[3,1]:=FS3:

> R;
3500. ( 3200. 1. e ( 0.1000000000 s ) ( 3200. 27. s ) )

s2.
( 0.2000000000 s )
3500. ( 27.320. e )

s1.

984.5000000 ( 3200. 1. e ( 0.1000000000 s ) ( 3200. 27. s ) )

s2.

( 0.2000000000 s )
984.5000000 ( 27.320. e )
1.
s

1000. ( 3200. 1. e ( 0.1000000000 s ) ( 3200. 27. s ) )

s2.
( 0.2000000000 s )
1000. ( 27.320. e )

s1.
> XS:=MatrixMatrixMultiply(G,R):
> Xr3_S:=invlaplace(XS[3,1],s,t);
Xr3_S := 0.02070362533 0.5158953911 t
( ( -107.4118917 145.7199950I ) t )
( 0.5224421682 10 -50.00004203984534 I ) e
( ( -107.4118917 145.7199950I ) t )
( 0.5224421682 10 -50.00004203984534 I ) e
( ( -32.22723832 70.70906499I ) t )
( 0.2 10 -120.8 10 -12 I ) e

( ( -32.22723832 70.70906499I ) t )
( 0.2 10 -120.8 10 -12 I ) e
( ( -107.4118917 145.7199951I ) t )
( 0.3511616 10 -70.28953082 10 -5 I ) e
( ( -107.4118917 145.7199951I ) t )
( 0.3511616 10 -70.28953082 10 -5 I ) e
( ( -32.22723831 70.70906497I ) t )
( 0.1 10 -110.5 10 -12 I ) e

( ( -32.22723831 70.70906497 I ) t )
( 0.1 10 -11 0.5 10 -12 I ) e
( ( -6.072082648 14.09889807 I ) t )
( 0.01035707221 0.01341067102 I ) e
( ( -6.072082648 14.09889807 I ) t )
( 0.01035707221 0.01341067102 I ) e
0.2335777145 10 -224
( 0.3095036896 10 224
0.2208667005 10 225
t

( ( -10.74118917 14.57199950I ) ( 1. 10. t ) )

( 0.2236695285 10 2200.1799822617 10 221 I ) e
( ( -10.74118917 14.57199950I ) ( 1. 10. t ) )
( 0.2236695285 10 2200.1799822617 10 221 I ) e
( ( -3.222723832 7.070906499I ) ( 1. 10. t ) )
( 0.1 10 2130.2 10 213 I ) e
( ( -3.222723832 7.070906499I ) ( 1. 10. t ) )
( 0.1 10 2130.2 10 213 I ) e

( ( -10.74118917 14.57199951 I ) ( 1. 10. t ) )

( 0.1503400 10 2180.123954814 10 220 I ) e
( ( -10.74118917 14.57199951 I ) ( 1. 10. t ) )
( 0.1503400 10 2180.123954814 10 220 I ) e
( ( -3.222723831 7.070906497 I ) ( 1. 10. t ) )
( 0.3 10 2130.1 10 213 I ) e
( ( -3.222723831 7.070906497 I ) ( 1. 10. t ) )
( 0.3 10 2130.1 10 213 I ) e
 ( ( -0.6072082648 1.409889807I ) ( 1. 10. t ) )
( 0.4434101181 10 2230.5741417184 10 223 I ) e

( ( -0.6072082648 1.409889807I ) ( 1. 10. t ) )
( 0.4434101181 10 2230.5741417184 10 223 I ) e )
Heaviside( 0.1000000000 t )0.3534294214 10 -213

Heaviside( 0.2000000000 t ) ( 0.1459684338 10 213

( ( -21.48237834 29.14399901I ) ( 1. 5. t ) )
( 0.1304374036 10 2110.1181201886 10 211 I ) e
( ( -21.48237834 29.14399901I ) ( 1. 5. t ) )
( 0.1304374036 10 2110.1181201886 10 211 I ) e
( ( -6.445447664 14.14181300I ) ( 1. 5. t ) )
( 0.1 10 2030. I ) e

( ( -6.445447664 14.14181300 I ) ( 1. 5. t ) )
( 0.1 10 2030. I ) e
( ( -21.48237834 29.14399902 I ) ( 1. 5. t ) )
( 0.796158564 10 2090.90154613 10 209 I ) e
( ( -21.48237834 29.14399902 I ) ( 1. 5. t ) )
( 0.796158564 10 2090.90154613 10 209 I ) e
( ( -6.445447662 14.14181299 I ) ( 1. 5. t ) )
( 0.2 10 2030.1 10 203 I ) e

( ( -6.445447662 14.14181299I ) ( 1. 5. t ) )
( 0.2 10 2030.1 10 203 I ) e
( ( -1.214416530 2.819779613I ) ( 1. 5. t ) )
( 0.7160022703 10 2120.2824032081 10 212 I ) e
( ( -1.214416530 2.819779613I ) ( 1. 5. t ) )
( 0.7160022703 10 2120.2824032081 10 212 I ) e
)
> x_S3:=convert(Xr3_S,trig):
> X3 := combine(x_S3,trig);
X3 := 0.5158953911 t0.4671554290 10 -12 Heaviside( 0.1000000000 t )
cosh( 3.222723832 32.22723832 t ) cos( 7.070906499 70.70906499 t )
0.4671554290 10 -12 Heaviside( 0.1000000000 t )
sinh( 3.222723832 32.22723832 t ) cos( 7.070906499 70.70906499 t )
0.00001044884345 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) cos( 14.57199950 145.7199950 t )
0.7023214720 10 -7 Heaviside( 0.1000000000 t )
cosh( 10.74118917 107.4118917 t ) cos( 14.57199951 145.7199951 t )
0.7023214720 10 -7 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) cos( 14.57199951 145.7199951 t )

0.00001044884345 Heaviside( 0.1000000000 t )

cosh( 10.74118917 107.4118917 t ) cos( 14.57199950 145.7199950 t )
0.02071414439 Heaviside( 0.1000000000 t )
cosh( 0.6072082648 6.072082648 t ) cos( 1.409889807 14.09889807 t )
0.02071414439 Heaviside( 0.1000000000 t )

sinh( 0.6072082648 6.072082648 t ) cos( 1.409889807 14.09889807 t )

0.1401466287 10 -11 Heaviside( 0.1000000000 t )
cosh( 3.222723831 32.22723831 t ) cos( 7.070906497 70.70906497 t )
0.1401466287 10 -11 Heaviside( 0.1000000000 t )
sinh( 3.222723831 32.22723831 t ) cos( 7.070906497 70.70906497 t )

0.1413717686 10 -10 Heaviside( 0.2000000000 t )

cosh( 6.445447662 32.22723831 t ) cos( 14.14181299 70.70906495 t )
0.1413717686 10 -10 Heaviside( 0.2000000000 t )
sinh( 6.445447662 32.22723831 t ) cos( 14.14181299 70.70906495 t )

0.7068588428 10 -11 Heaviside( 0.2000000000 t )

cosh( 6.445447664 32.22723832 t ) cos( 14.14181300 70.70906500 t )
0.7068588428 10 -11 Heaviside( 0.2000000000 t )
sinh( 6.445447664 32.22723832 t ) cos( 14.14181300 70.70906500 t )
0.00005627717212 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) cos( 29.14399902 145.7199951 t )
0.00005627717212 Heaviside( 0.2000000000 t )
sinh( 21.48237834 107.4118917 t ) cos( 29.14399902 145.7199951 t )
0.0009220083217 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) cos( 29.14399901 145.7199950 t )

0.0009220083217 Heaviside( 0.2000000000 t )

sinh( 21.48237834 107.4118917 t ) cos( 29.14399901 145.7199950 t )
0.05061125364 Heaviside( 0.2000000000 t )
cosh( 1.214416530 6.072082650 t ) cos( 2.819779613 14.09889806 t )
0.05061125364 Heaviside( 0.2000000000 t )

sinh( 1.214416530 6.072082650 t ) cos( 2.819779613 14.09889806 t )

0.00008407969068 Heaviside( 0.1000000000 t )
cosh( 10.74118917 107.4118917 t ) sin( 14.57199950 145.7199950 t )
0.00008407969068 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) sin( 14.57199950 145.7199950 t )

0.9343108580 10 -12 Heaviside( 0.1000000000 t )

cosh( 3.222723832 32.22723832 t ) sin( 7.070906499 70.70906499 t )
0.9343108580 10 -12 Heaviside( 0.1000000000 t )
sinh( 3.222723832 32.22723832 t ) sin( 7.070906499 70.70906499 t )

0.5790616431 10 -5 Heaviside( 0.1000000000 t )

cosh( 10.74118917 107.4118917 t ) sin( 14.57199951 145.7199951 t )
0.5790616431 10 -5 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) sin( 14.57199951 145.7199951 t )

0.4671554290 10 -12 Heaviside( 0.1000000000 t )

cosh( 3.222723831 32.22723831 t ) sin( 7.070906497 70.70906497 t )
0.4671554290 10 -12 Heaviside( 0.1000000000 t )
sinh( 3.222723831 32.22723831 t ) sin( 7.070906497 70.70906497 t )
0.02682134208 Heaviside( 0.1000000000 t )
cosh( 0.6072082648 6.072082648 t ) sin( 1.409889807 14.09889807 t )
0.02682134208 Heaviside( 0.1000000000 t )
sinh( 0.6072082648 6.072082648 t ) sin( 1.409889807 14.09889807 t )
0.0008349429983 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) sin( 29.14399901 145.7199950 t )

0.0008349429983 Heaviside( 0.2000000000 t )

sinh( 21.48237834 107.4118917 t ) sin( 29.14399901 145.7199950 t )
0.00006372658542 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) sin( 29.14399902 145.7199951 t )
0.00006372658542 Heaviside( 0.2000000000 t )

sinh( 21.48237834 107.4118917 t ) sin( 29.14399902 145.7199951 t )

0.7068588428 10 -11 Heaviside( 0.2000000000 t )
cosh( 6.445447662 32.22723831 t ) sin( 14.14181299 70.70906495 t )
0.7068588428 10 -11 Heaviside( 0.2000000000 t )
sinh( 6.445447662 32.22723831 t ) sin( 14.14181299 70.70906495 t )

0.01996192049 Heaviside( 0.2000000000 t )

cosh( 1.214416530 6.072082650 t ) sin( 2.819779613 14.09889806 t )
0.01996192049 Heaviside( 0.2000000000 t )
sinh( 1.214416530 6.072082650 t ) sin( 2.819779613 14.09889806 t )
0.4 10 -12 cosh( 32.22723832 t ) cos( 70.70906499 t )

0.4 10 -12 sinh( 32.22723832 t ) cos( 70.70906499 t )

0.16 10 -11 cosh( 32.22723832 t ) sin( 70.70906499 t )
0.16 10 -11 sinh( 32.22723832 t ) sin( 70.70906499 t )
0.07229316445 Heaviside( 0.1000000000 t )
 0.05158953910 Heaviside( 0.2000000000 t )
0.7023232 10 -7 cosh( 107.4118917 t ) cos( 145.7199951 t )
0.7023232 10 -7 sinh( 107.4118917 t ) cos( 145.7199951 t )
0.57906164 10 -5 cosh( 107.4118917 t ) sin( 145.7199951 t )

0.57906164 10 -5 sinh( 107.4118917 t ) sin( 145.7199951 t )

0.00001044884336 cosh( 107.4118917 t ) cos( 145.7199950 t )
0.00001044884336 sinh( 107.4118917 t ) cos( 145.7199950 t )
0.00008407969068 cosh( 107.4118917 t ) sin( 145.7199950 t )
0.00008407969068 sinh( 107.4118917 t ) sin( 145.7199950 t )

0.5158953911 Heaviside( 0.1000000000 t ) t

0.02071414442 cosh( 6.072082648 t ) cos( 14.09889807 t )
0.02071414442 sinh( 6.072082648 t ) cos( 14.09889807 t )
0.02682134204 cosh( 6.072082648 t ) sin( 14.09889807 t )
0.02682134204 sinh( 6.072082648 t ) sin( 14.09889807 t )0.02070362533

0.2 10 -11 cosh( 32.22723831 t ) cos( 70.70906497 t )

0.2 10 -11 sinh( 32.22723831 t ) cos( 70.70906497 t )
0.10 10 -11 cosh( 32.22723831 t ) sin( 70.70906497 t )
0.10 10 -11 sinh( 32.22723831 t ) sin( 70.70906497 t )
> plot(X3,t=0..0.4,numpoints=2000);
> Xr2_S:=invlaplace(XS[2,1],s,t);
Xr2_S := 0.0005834661137 0.2608652407 t0.2204604676 10 -121 (
0.1209740253 10 1210.1183274460 10 122 t
( ( -10.74118917 14.57199951I ) ( 1. 10. t ) )
( 0.10 10 1080.730 10 109 I ) e
( ( -10.74118917 14.57199951I ) ( 1. 10. t ) )
( 0.10 10 1080.730 10 109 I ) e

( ( -3.222723831 7.070906497I ) ( 1. 10. t ) )

( 0.1323289721 10 1190.7764085934 10 119 I ) e
( ( -3.222723831 7.070906497I ) ( 1. 10. t ) )
( 0.1323289721 10 1190.7764085934 10 119 I ) e
( ( -0.6072082648 1.409889807I ) ( 1. 10. t ) )
( 0.7 10 1110.4 10 111 I ) e
( ( -0.6072082648 1.409889807I ) ( 1. 10. t ) )
( 0.7 10 1110.4 10 111 I ) e )

Heaviside( 0.1000000000 t )
( ( -107.4118917 145.7199951 I ) t )
( 0.1148 10 -120.246 10 -12 I ) e
( ( -107.4118917 145.7199951 I ) t )
( 0.1148 10 -120.246 10 -12 I ) e
( ( -32.22723831 70.70906497 I ) t )
( 0.0002917330734 0.001711674017 I ) e
 ( ( -32.22723831 70.70906497 I ) t )
( 0.0002917330734 0.001711674017 I ) e
( ( -6.072082648 14.09889807 I ) t )
( 0.16 10 -100.15 10 -10 I ) e
( ( -6.072082648 14.09889807 I ) t )
( 0.16 10 -100.15 10 -10 I ) e 0.3335815476 10 -110 (
0.7820134014 10 109

( ( -21.48237834 29.14399902I ) ( 1. 5. t ) )
( 0.239 10 990.171 10 99 I ) e
( ( -21.48237834 29.14399902I ) ( 1. 5. t ) )
( 0.239 10 990.171 10 99 I ) e
( ( -6.445447662 14.14181299I ) ( 1. 5. t ) )
( 0.3910067012 10 1090.1782100519 10 109 I ) e
( ( -6.445447662 14.14181299I ) ( 1. 5. t ) )
( 0.3910067012 10 1090.1782100519 10 109 I ) e

( ( -1.214416530 2.819779613 I ) ( 1. 5. t ) )
( 0.6 10 1000.8 10 100 I ) e
( ( -1.214416530 2.819779613 I ) ( 1. 5. t ) )
( 0.6 10 1000.8 10 100 I ) e )
Heaviside( 0.2000000000 t )
> x_S2:=convert(Xr2_S,trig):
> X2 := combine(x_S2,trig);
X2 := 0.2608652407 t0.4409209352 10 -14 Heaviside( 0.1000000000 t )
cosh( 10.74118917 107.4118917 t ) cos( 14.57199951 145.7199951 t )
0.4409209352 10 -14 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) cos( 14.57199951 145.7199951 t )

0.3086446546 10 -10 Heaviside( 0.1000000000 t )

cosh( 0.6072082648 6.072082648 t ) cos( 1.409889807 14.09889807 t )
0.3086446546 10 -10 Heaviside( 0.1000000000 t )
sinh( 0.6072082648 6.072082648 t ) cos( 1.409889807 14.09889807 t )
0.0005834661413 Heaviside( 0.1000000000 t )

cosh( 3.222723831 32.22723831 t ) cos( 7.070906497 70.70906497 t )

0.0005834661413 Heaviside( 0.1000000000 t )
sinh( 3.222723831 32.22723831 t ) cos( 7.070906497 70.70906497 t )
0.02608652410 Heaviside( 0.2000000000 t )
cosh( 6.445447662 32.22723831 t ) cos( 14.14181299 70.70906495 t )
0.02608652410 Heaviside( 0.2000000000 t )
sinh( 6.445447662 32.22723831 t ) cos( 14.14181299 70.70906495 t )
0.1594519798 10 -11 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) cos( 29.14399902 145.7199951 t )
0.1594519798 10 -11 Heaviside( 0.2000000000 t )

sinh( 21.48237834 107.4118917 t ) cos( 29.14399902 145.7199951 t )

0.4002978571 10 -10 Heaviside( 0.2000000000 t )
cosh( 1.214416530 6.072082650 t ) cos( 2.819779613 14.09889806 t )
0.4002978571 10 -10 Heaviside( 0.2000000000 t )
sinh( 1.214416530 6.072082650 t ) cos( 2.819779613 14.09889806 t )

0.3218722827 10 -12 Heaviside( 0.1000000000 t )

cosh( 10.74118917 107.4118917 t ) sin( 14.57199951 145.7199951 t )
0.3218722827 10 -12 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) sin( 14.57199951 145.7199951 t )
0.003423348031 Heaviside( 0.1000000000 t )

cosh( 3.222723831 32.22723831 t ) sin( 7.070906497 70.70906497 t )

0.003423348031 Heaviside( 0.1000000000 t )
sinh( 3.222723831 32.22723831 t ) sin( 7.070906497 70.70906497 t )
0.1763683741 10 -10 Heaviside( 0.1000000000 t )
cosh( 0.6072082648 6.072082648 t ) sin( 1.409889807 14.09889807 t )

0.1763683741 10 -10 Heaviside( 0.1000000000 t )

sinh( 0.6072082648 6.072082648 t ) sin( 1.409889807 14.09889807 t )
0.1140848893 10 -11 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) sin( 29.14399902 145.7199951 t )
 0.1140848893 10 -11 Heaviside( 0.2000000000 t )
sinh( 21.48237834 107.4118917 t ) sin( 29.14399902 145.7199951 t )
0.01188951698 Heaviside( 0.2000000000 t )
cosh( 6.445447662 32.22723831 t ) sin( 14.14181299 70.70906495 t )
0.01188951698 Heaviside( 0.2000000000 t )

sinh( 6.445447662 32.22723831 t ) sin( 14.14181299 70.70906495 t )

0.5337304762 10 -10 Heaviside( 0.2000000000 t )
cosh( 1.214416530 6.072082650 t ) sin( 2.819779613 14.09889806 t )
0.5337304762 10 -10 Heaviside( 0.2000000000 t )
sinh( 1.214416530 6.072082650 t ) sin( 2.819779613 14.09889806 t )

0.02666999019 Heaviside( 0.1000000000 t )

0.02608652407 Heaviside( 0.2000000000 t )
0.2296 10 -12 cosh( 107.4118917 t ) cos( 145.7199951 t )
0.2296 10 -12 sinh( 107.4118917 t ) cos( 145.7199951 t )

0.492 10 -12 cosh( 107.4118917 t ) sin( 145.7199951 t )

0.492 10 -12 sinh( 107.4118917 t ) sin( 145.7199951 t )0.0005834661137
0.2608652408 Heaviside( 0.1000000000t ) t
0.32 10 -10 cosh( 6.072082648 t ) cos( 14.09889807 t )

0.32 10 -10 sinh( 6.072082648 t ) cos( 14.09889807 t )

0.30 10 -10 cosh( 6.072082648 t ) sin( 14.09889807 t )
0.30 10 -10 sinh( 6.072082648 t ) sin( 14.09889807 t )
0.0005834661468 cosh( 32.22723831 t ) cos( 70.70906497 t )

0.0005834661468 sinh( 32.22723831 t ) cos( 70.70906497 t )

0.003423348034 cosh( 32.22723831 t ) sin( 70.70906497 t )
0.003423348034 sinh( 32.22723831 t ) sin( 70.70906497 t )
> plot(X2,t=0..0.5,numpoints=2000);
> Xr1_S:=invlaplace(XS[1,1],s,t);
Xr1_S := 0.004570518044 0.06291526813 t0.3388334673 10 -116
Heaviside( 0.2000000000 t ) ( 0.1856819771 10 115
( ( -21.48237834 29.14399901I ) ( 1. 5. t ) )
( 0.6613925297 10 1140.4837468735 10 114 I ) e
( ( -21.48237834 29.14399901I ) ( 1. 5. t ) )
( 0.6613925297 10 1140.4837468735 10 114 I ) e
 ( ( -6.445447664 14.14181300I ) ( 1. 5. t ) )
( 0.3 10 1050.3 10 105 I ) e
( ( -6.445447664 14.14181300I ) ( 1. 5. t ) )
( 0.3 10 1050.3 10 105 I ) e
( ( -1.214416530 2.819779613I ) ( 1. 5. t ) )
( 0.1589802415 10 1150.6456944967 10 114 I ) e
( ( -1.214416530 2.819779613I ) ( 1. 5. t ) )
( 0.1589802415 10 1150.6456944967 10 114 I ) e

( ( -107.4118917 145.7199950 I ) t )
)( 0.0000427517452 0.0001842234947 I ) e
( ( -107.4118917 145.7199950 I ) t )
( 0.0000427517452 0.0001842234947 I ) e
( ( -32.22723832 70.70906499 I ) t )
( 0.0.1 10 -12 I ) e
( ( -32.22723832 70.70906499 I ) t )
( 0.0.1 10 -12 I ) e

( ( -6.072082648 14.09889807 I ) t )
( 0.002242507277 0.002843764474 I ) e
( ( -6.072082648 14.09889807 I ) t )
( 0.002242507277 0.002843764474 I ) e
0.6717942149 10 -127 Heaviside( 0.1000000000 t ) ( 0.1616870854 10 126
0.9365258993 10 126 t

( ( -10.74118917 14.57199950I ) ( 1. 10. t ) )

( 0.6363815628 10 1230.2742260808 10 124 I ) e
( ( -10.74118917 14.57199950I ) ( 1. 10. t ) )
( 0.6363815628 10 1230.2742260808 10 124 I ) e
( ( -3.222723832 7.070906499I ) ( 1. 10. t ) )
( 0.2 10 1150.3 10 115 I ) e
( ( -3.222723832 7.070906499I ) ( 1. 10. t ) )
( 0.2 10 1150.3 10 115 I ) e

( ( -0.6072082648 1.409889807I ) ( 1. 10. t ) )

( 0.3338086615 10 1250.4233088659 10 125 I ) e

( ( -0.6072082648 1.409889807I ) ( 1. 10. t ) )
( 0.3338086615 10 1250.4233088659 10 125 I ) e )
> x_S1:=convert(Xr1_S,trig):
> X1 := combine(x_S1,trig);
X1 := 0.06291526813 t0.2687176860 10 -12 Heaviside( 0.1000000000 t )
cosh( 3.222723832 32.22723832 t ) cos( 7.070906499 70.70906499 t )
0.2687176860 10 -12 Heaviside( 0.1000000000 t )
sinh( 3.222723832 32.22723832 t ) cos( 7.070906499 70.70906499 t )
0.00008550349050 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) cos( 14.57199950 145.7199950 t )
0.00008550349050 Heaviside( 0.1000000000 t )
cosh( 10.74118917 107.4118917 t ) cos( 14.57199950 145.7199950 t )
0.004485014554 Heaviside( 0.1000000000 t )
cosh( 0.6072082648 6.072082648 t ) cos( 1.409889807 14.09889807 t )

0.004485014554 Heaviside( 0.1000000000 t )

sinh( 0.6072082648 6.072082648 t ) cos( 1.409889807 14.09889807 t )
0.2033000804 10 -11 Heaviside( 0.2000000000 t )
cosh( 6.445447664 32.22723832 t ) cos( 14.14181300 70.70906500 t )
0.2033000804 10 -11 Heaviside( 0.2000000000 t )

sinh( 6.445447664 32.22723832 t ) cos( 14.14181300 70.70906500 t )

0.004482038480 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) cos( 29.14399901 145.7199950 t )
0.004482038480 Heaviside( 0.2000000000 t )
sinh( 21.48237834 107.4118917 t ) cos( 29.14399901 145.7199950 t )

0.01077356529 Heaviside( 0.2000000000 t )

cosh( 1.214416530 6.072082650 t ) cos( 2.819779613 14.09889806 t )
0.01077356529 Heaviside( 0.2000000000 t )
sinh( 1.214416530 6.072082650 t ) cos( 2.819779613 14.09889806 t )
0.0003684469893 Heaviside( 0.1000000000 t )

cosh( 10.74118917 107.4118917 t ) sin( 14.57199950 145.7199950 t )

0.0003684469893 Heaviside( 0.1000000000 t )
sinh( 10.74118917 107.4118917 t ) sin( 14.57199950 145.7199950 t )
0.4030765289 10 -12 Heaviside( 0.1000000000 t )
cosh( 3.222723832 32.22723832 t ) sin( 7.070906499 70.70906499 t )
0.4030765289 10 -12 Heaviside( 0.1000000000 t )
sinh( 3.222723832 32.22723832 t ) sin( 7.070906499 70.70906499 t )
0.005687528945 Heaviside( 0.1000000000 t )
cosh( 0.6072082648 6.072082648 t ) sin( 1.409889807 14.09889807 t )
0.005687528945 Heaviside( 0.1000000000 t )

sinh( 0.6072082648 6.072082648 t ) sin( 1.409889807 14.09889807 t )

0.003278192609 Heaviside( 0.2000000000 t )
cosh( 21.48237834 107.4118917 t ) sin( 29.14399901 145.7199950 t )
0.003278192609 Heaviside( 0.2000000000 t )
sinh( 21.48237834 107.4118917 t ) sin( 29.14399901 145.7199950 t )

0.004375658101 Heaviside( 0.2000000000 t )

cosh( 1.214416530 6.072082650 t ) sin( 2.819779613 14.09889806 t )
0.004375658101 Heaviside( 0.2000000000 t )
sinh( 1.214416530 6.072082650 t ) sin( 2.819779613 14.09889806 t )
0.2 10 -12 cosh( 32.22723832 t ) sin( 70.70906499 t )

0.2 10 -12 sinh( 32.22723832 t ) sin( 70.70906499 t )

0.01086204486 Heaviside( 0.1000000000 t )
0.006291526812 Heaviside( 0.2000000000 t )0.2033000804 10 -11
Heaviside( 0.2000000000 t ) cosh( 6.445447664 32.22723832 t )

sin( 14.14181300 70.70906500 t )0.2033000804 10 -11

Heaviside( 0.2000000000 t ) sinh( 6.445447664 32.22723832 t )
sin( 14.14181300 70.70906500 t )0.004570518044
0.0000855034904 cosh( 107.4118917 t ) cos( 145.7199950 t )
0.0000855034904 sinh( 107.4118917 t ) cos( 145.7199950 t )
 0.0003684469894 cosh( 107.4118917 t ) sin( 145.7199950 t )
0.0003684469894 sinh( 107.4118917 t ) sin( 145.7199950 t )
0.06291526813 Heaviside( 0.1000000000 t ) t
0.004485014554 cosh( 6.072082648 t ) cos( 14.09889807 t )
0.004485014554 sinh( 6.072082648 t ) cos( 14.09889807 t )

0.005687528948 cosh( 6.072082648 t ) sin( 14.09889807 t )

0.005687528948 sinh( 6.072082648 t ) sin( 14.09889807 t )
> plot(X1,t=0..0.4,numpoints=2000);
> Xer1:=X3+c*X1+(Troch/2)*X2:
> plot(Xer1,t=0..0.4,numpoints=2000);
> FR:=Krt*(Xer1-xo(t)):
> plot(FR,t=0..0.4,numpoints=2000);
> Ver1:=diff(Xer1,t):
> FA:=cam_t*(Ver1-Vo(t)):
> plot(FA,t=0..0.4,numpoints=2000);
> FT:=FR+FA:
> plot(FT,t=0..0.4,numpoints=200);
>