%Thong so cho truoc
%Chieu dai co so
L=2.850 %m
%Chieu rong co so
B= 1.64 %m
%Chieu dai don quay dung
l=0.168 %m
%Khoang cach giua 2 tam tru quay dung
m=1.360 %m
%Chieu dai thanh keo
n=1.445 %m
%Tai trong tac dung len mot banh xe dan huong khi toan tai
Gbx=8093.25 %kg
%Goc doang banh xe dn huong
anpha=2 %do
%Do chum banh xe dan huong
a=0.0053 %m
%Goc nghieng ngang tru quay dung
beta=8 %do
%Goc nghieng doc tru quay dung
gama=7 %do
%He so can lan
f=0.018
%Ban kinh vo lang
Rvl=0.195 %m
%Ti so truyen co cau lai
ic=16.5
%Hieu suat thuan
netat=0.99
%Hieu suat nghich
netan=0.99 (adsbygoogle = window.adsbygoogle || []).push({});
%He so bam ngang
phin=0.85
%Hieu suat cua dan dong lai
netadd=0.98
%Ti so truyen cua dan dong lai
idd=1
%He so ke den anh huong cua momen on dinh cac banh xe dan huong
Km3=1.15
%Luc tac dung lon nhat len vo lang
Pvlmax=70 %N
phi=0.85
%Do doc cua duong
anphad=11.3*pi/180 %rad
%Ung suat uon cho phep
xichmaucp=2600 %kg/cm^2
%Ung suat keo cho phep
xichmakcp=2100 %kg/cm^2
%He so phan bo tai trong
Kd=1.3
%Khoang cach tu am vet banh xe toi truc tru quay dung
lv=0.07 %m
%Ban kinh tu do cua banh xe dan huong
r0=0.4 %m
%gia toc trong truong
g=9.81 deltax=[0.001,0.012,0.016,0.016,0.020,0.022,0.024,0.026,0.028,0.030,0.032,0.034, 0.036,0.038,0.040,0.042,0.044,0.046,0.048,0.050,0.052,0.054,0.056,0.058,0.060,0.062 ,0.064,0.066,0.070,0.072,0.074,0.076,0.078,0.080,0.082,0.084,0.086,0.088,0.096] %Cac toa do yB=0.22 %m yD=0.22 %m xD=0.32 %m xB=1.055 %m l1=0.168 %m l2=0.37 %m
%Chieu dai thanh keo
n=1.445 %m
%Goc cua don quay dung khi o to chay thang
theta=15 %do
%Tinh toan kiem nghiem (adsbygoogle = window.adsbygoogle || []).push({});
%Xac dinh momen can quay vong cua cac banh xe dan huong Mcq
%Momen sinh ra do luc can lan M1
l1=(B-m)/2 rbx=0.95*r0
a1=(l1-(rbx*(anpha+beta)/180)) M1=f*Gbx*g*a1
%Momen can cua cac phan luc ngang o vet tiep xuc M2
%Xac dinh do dich ve phia sau cua diem dat luc ngang tong hop so
%voi tam dien tich tiep xuc giua lop voi mat duong do su dan hoi cua lop gay ra (x)
x=0.5*(sqrt(r0^2-rbx^2)) %Momen can quay tong
Mcq=2*((Gbx*(f*a1+0.14*phin*r0)*Km3)/(idd*netadd)) %Xac dinh luc can thiet tac dung len vo lang
Pvl=Mcq/(Rvl*ic*netat) %Chi so hieu dung tro luc
Khd=Pvl/Pvlmax
%Tinh toan kiem ben dan dong lai khi o to quay vong tai cho
%Tinh ben don quay dung
F1=(Mcq/l)*(cos(33*pi/180)) %Phan luc lien ket
XA=F1*(cos(22*pi/180)) YA=F1*cos((68*pi/180)) Q1Y=(-1*YA)/(cos(35*pi/180)) Q1X=(-1*XA)/(cos(55*pi/180)) Q1=sqrt(Q1Y^2+Q1X^2) Mxmax=-1*Q1*l Wx=(2*4^2)/6 xichmau=(abs(Mxmax))/Wx if xichmau < xichmaucp disp('Don quay du ben') elseif xichmau > xichmaucp disp('Don quay khong du ben') end
%Tinh ben thanh keo ben
N=F1
F=pi*(0.5^2) xichmak=N/F/10
if xichmak < xichmakcp
disp('Thanh keo ben du ben') elseif xichmak > xichmakcp
disp('Thanh keo ben khong du ben') end
%Tinh toan kiem nghiem dan dong lai khi phanh voi cuong do cao
%Xe chuyen dong thang tren duong nam ngang
%Trong luong phan bo len mot banh xe dan huong khi phanh
Gx=Gbx*Kd
%Luc phanh lon nhat
Ppmax=phi*Gx
%Momen phanh quy dan ve truc cua tru quay dung
Mp=Ppmax*lv
%Xe chuyen dong thang xuong doc (adsbygoogle = window.adsbygoogle || []).push({});
%Luc phanh lon nhat
Ppmax1=phi*Gx*cos(anphad)
%Momen phanh quy dan ve truc cua tru quay dung
Mp1=Ppmax1*lv if and(Mp,Mp1) < Mcq
disp('Ta khong can tinh ben tren cac don quay dung va thanh keo ben khi
phanh')
elseif and(Mp,Mp1)> Mcq
disp('Can tinh ben cho don quay dung va thanh keo ben') end
%Tinh toan kiem tra dong hoc quay vong
%Giai pt 3.14
a=4*yD^2+8*(deltax.^2)+8*xD.*deltax b=4*X*xD+(4*X.*deltax) c=X.^2-4*yD^2*l1 delta=((-b).^2)-(4.*a.*c) xF1=(-b+sqrt(delta))./(2*a) xF2=(-b-sqrt(delta))./(2*a) yF1=sqrt(l1^2-xF1.^2) yF2=sqrt(l1^2-xF2.^2) yF=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.0195,0.0393,0.0517,0.0612,0.0691,0.0759, 0.0819,0.0873,0.0922,0.0966,0.1045,0.1080,0.1113,0.1143,0.1172,0.1198,0.1224,0.12 47,0.1270,0.1291,0.1365] %Giai pt 3.15 x=solve('x^4+a1*x^3+b1*x^2+c1*x=d1') X1=deltax.^2+xB^2-2*xB.*deltax+yD^2+l1^2+m^2-l2^2 a1=4*deltax-4*xB-2 b1=2*X1+4*deltax.^2-8*xB.*deltax+4*xB^2+4*xB-2*deltax+1 c1=4*X1.*deltax-4*a1*xB-2*a1+4*yD^2 d1=X1.^2-4*yD^2*l1-4*yD^2*m^2
xL=(12.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).*((b1 - (3.*a1.^2)/8).^2 - 3.*a1.*c1 - 12.*d1 + 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3) + (3.*a1.^2.*b1)/4 - 6.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3) - (9.*a1.^4)/64).^(1/2) - 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3).*((b1 - (3.*a1.^2)/8).^2 - 3.*a1.*c1 - 12.*d1 + 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 +
(c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3) + (3.*a1.^2.*b1)/4 - 6.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3) - (9.*a1.^4)/64).^(1/2) - (b1 - (3.*a1.^2)/8).^2.*((b1 - (3.*a1.^2)/8).^2 - 3.*a1.*c1 - 12.*d1 + 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3) + (3.*a1.^2.*b1)/4 - 6.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3) - (9.*a1.^4)/64).^(1/2) + 3.*6.^(1/2).*(a1.^3/8 - (b1.*a1)/2 + c1).*(2.*(b1 - (3.*a1.^2)/8).^3 + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 3.*3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2) + 72.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2) - 12.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3).*((b1 - (3.*a1.^2)/8).^2 - 3.*a1.*c1 - 12.*d1 + 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 +
d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3) + (3.*a1.^2.*b1)/4 - 6.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3) - (9.*a1.^4)/64).^(1/2)).^(1/2)/(6.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/6).*((b1 - (3.*a1.^2)/8).^2 - 3.*a1.*c1 - 12.*d1 + 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3) + (3.*a1.^2.*b1)/4 - 6.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3) - (9.*a1.^4)/64).^(1/4)) - ((b1 - (3.*a1.^2)/8).^2 - 3.*a1.*c1 - 12.*d1 + 9.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(2/3) + (3.*a1.^2.*b1)/4 - 6.*(b1 - (3.*a1.^2)/8).*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 +
c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/3) - (9.*a1.^4)/64).^(1/2)/(6.*((b1 - (3.*a1.^2)/8).^3/27 + (a1.^3/8 - (b1.*a1)/2 + c1).^2/2 + (3.^(1/2).*(4.*(b1 - (3.*a1.^2)/8).^3.*(a1.^3/8 - (b1.*a1)/2 + c1).^2 + 16.*(b1 - (3.*a1.^2)/8).^4.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1) + 27.*(a1.^3/8 - (b1.*a1)/2 + c1).^4 + 128.*(b1 - (3.*a1.^2)/8).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^2 + 256.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1).^3 + 144.*(b1 - (3.*a1.^2)/8).*(a1.^3/8 - (b1.*a1)/2 + c1).^2.*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1)).^(1/2))/18 + (4.*(b1 - (3.*a1.^2)/8).*((3.*a1.^4)/256 - (b1.*a1.^2)/16 + (c1.*a1)/4 + d1))/3).^(1/6)) - a1/4 yL=sqrt(l1^2-(xL-m^2))
beta2=theta+tanh(xF2./yF) alpha=atan((xL-m)./yL)-theta %Do thi
%Vi cotg alpha k xac dinh tai alpha = 0 do do ta chon alpha chay tu 0.5
alpha1=linspace(0.5,45,39) beta=abs(atan((xL-m)./yL)-alpha1+atan(xF2/yF)) betatt=(95/100).*(abs(atan((xL-m)./yL)-alpha1+atan(xF2/yF))) plot(alpha1,beta,alpha1,betatt) xlabel('alpha') ylabel('beta') grid on b. Kết quả tính toán >> long L = 2.8500 B = 1.6400 l = 0.1680 m = 1.3600 n = 1.4450
Gbx = 8.0933e+003 anpha = 2 a = 0.0053 beta = 8 gama = 7 f = 0.0180 Rvl = 0.1950 ic = 16.5000 netat = 0.9900 netan = 0.9900 phin = 0.8500 netadd = 0.9800
idd = 1 Km3 = 1.1500 Pvlmax = 70 phi = 0.8500 anphad = 0.1972 xichmaucp = 2600 xichmakcp = 2100 Kd = 1.3000 lv = 0.0700 r0 = 0.4000 g = 9.8100 deltax = Columns 1 through 16
0.0010 0.0120 0.0160 0.0160 0.0200 0.0220 0.0240 0.0260 0.02800.0300 0.0320 0.0340 0.0360 0.0380 0.0400 0.0420 0.0300 0.0320 0.0340 0.0360 0.0380 0.0400 0.0420 Columns 17 through 32 0.0440 0.0460 0.0480 0.0500 0.0520 0.0540 0.0560 0.0580 0.0600 0.0620 0.0640 0.0660 0.0700 0.0720 0.0740 0.0760 Columns 33 through 39 0.0780 0.0800 0.0820 0.0840 0.0860 0.0880 0.0960 yB = 0.2200 yD = 0.2200 xD = 0.3200 xB = 1.0550 l1 = 0.1680 l2 = 0.3700 n = 1.4450 theta = 15 l1 = 0.1400
rbx = 0.3800 a1 = 0.1189 M1 = 169.9048 x = 0.0624 Mcq = 944.7796 Pvl = 296.6038 Khd = 4.2372 F1 = 4.7164e+003 XA = 4.3730e+003 YA = 1.7668e+003 Q1Y = -2.1569e+003 Q1X = -7.6241e+003
Q1 = 7.9233e+003 Mxmax = -1.3311e+003 Wx = 5.3333 xichmau = 249.5838
Don quay du ben N = 4.7164e+003 F = 0.7854 xichmak = 600.5134
Thanh keo ben du ben Gx = 1.0521e+004 Ppmax = 8.9430e+003 Mp = 626.0129 Ppmax1 = 8.7697e+003
Mp1 = 613.8774
Ta khong can tinh ben tren cac don quay dung va thanh keo ben khi phanh X = Columns 1 through 16 0.0341 0.0412 0.0437 0.0437 0.0463 0.0476 0.0489 0.0501 0.0514 0.0527 0.0540 0.0553 0.0565 0.0578 0.0591 0.0604 Columns 17 through 32 0.0617 0.0629 0.0642 0.0655 0.0668 0.0681 0.0693 0.0706 0.0719 0.0732 0.0745 0.0757 0.0783 0.0796 0.0809 0.0821 Columns 33 through 39 0.0834 0.0847 0.0860 0.0873 0.0885 0.0898 0.0949 a = Columns 1 through 16 0.1962 0.2255 0.2366 0.2366 0.2480 0.2538 0.2596 0.2656 0.2716 0.2776 0.2837 0.2899 0.2961 0.3024 0.3088 0.3152 Columns 17 through 32 0.3217 0.3283 0.3349 0.3416 0.3484 0.3552 0.3620 0.3690 0.3760 0.3831 0.3902 0.3974 0.4120 0.4194 0.4268 0.4344 Columns 33 through 39 0.4420 0.4496 0.4573 0.4651 0.4729 0.4808 0.5131 b = Columns 1 through 16 0.0438 0.0547 0.0588 0.0588 0.0630 0.0651 0.0672 0.0694 0.0716 0.0738 0.0760 0.0782 0.0805 0.0828 0.0851 0.0874 Columns 17 through 32
0.0898 0.0921 0.0945 0.0969 0.0994 0.1018 0.1043 0.1068 0.10930.1118 0.1144 0.1169 0.1221 0.1248 0.1274 0.1301 0.1118 0.1144 0.1169 0.1221 0.1248 0.1274 0.1301 Columns 33 through 39 0.1328 0.1355 0.1383 0.1410 0.1438 0.1466 0.1580 c = Columns 1 through 16 -0.0259 -0.0254 -0.0252 -0.0252 -0.0250 -0.0248 -0.0247 -0.0246 -0.0245 -0.0243 -0.0242 -0.0241 -0.0239 -0.0238 -0.0236 -0.0235 Columns 17 through 32 -0.0233 -0.0231 -0.0230 -0.0228 -0.0226 -0.0225 -0.0223 -0.0221 -0.0219 -0.0217 -0.0216 -0.0214 -0.0210 -0.0208 -0.0206 -0.0204 Columns 33 through 39 -0.0201 -0.0199 -0.0197 -0.0195 -0.0193 -0.0190 -0.0181 delta = Columns 1 through 16 0.0223 0.0259 0.0273 0.0273 0.0287 0.0295 0.0302 0.0309 0.0317 0.0325 0.0332 0.0340 0.0348 0.0356 0.0364 0.0372 Columns 17 through 32 0.0380 0.0389 0.0397 0.0406 0.0414 0.0423 0.0432 0.0440 0.0449 0.0458 0.0467 0.0476 0.0495 0.0504 0.0514 0.0523 Columns 33 through 39 0.0532 0.0542 0.0552 0.0561 0.0571 0.0581 0.0621 xF1 = Columns 1 through 16 0.2687 0.2357 0.2249 0.2249 0.2148 0.2099 0.2051 0.2005 0.1960 0.1916 0.1873 0.1831 0.1790 0.1750 0.1712 0.1673 Columns 17 through 32
0.1636 0.1600 0.1564 0.1529 0.1495 0.1462 0.1429 0.1397 0.13660.1335 0.1304 0.1275 0.1217 0.1189 0.1162 0.1135 0.1335 0.1304 0.1275 0.1217 0.1189 0.1162 0.1135 Columns 33 through 39 0.1108 0.1082 0.1057 0.1031 0.1007 0.0982 0.0889 xF2 = Columns 1 through 16 -0.4921 -0.4782 -0.4734 -0.4734 -0.4687 -0.4663 -0.4641 -0.4618 -0.4596 -0.4574 -0.4552 -0.4530 -0.4509 -0.4488 -0.4467 -0.4447 Columns 17 through 32 -0.4427 -0.4407 -0.4387 -0.4367 -0.4348 -0.4328 -0.4309 -0.4291 -0.4272 -0.4254 -0.4236 -0.4217 -0.4182 -0.4165 -0.4147 -0.4130 Columns 33 through 39 -0.4113 -0.4096 -0.4080 -0.4063 -0.4047 -0.4031 -0.3968 yF1 = Columns 1 through 8
0 + 0.2293i 0 + 0.1896i 0 + 0.1760i 0 + 0.1760i 0 + 0.1628i 0 + 0.1564i 0 + 0.1499i 0 + 0.1435i (adsbygoogle = window.adsbygoogle || []).push({});
Columns 9 through 16
0 + 0.1372i 0 + 0.1308i 0 + 0.1244i 0 + 0.1180i 0 + 0.1116i 0 + 0.1051i 0 + 0.0985i 0 + 0.0917i
Columns 17 through 24
0 + 0.0847i 0 + 0.0774i 0 + 0.0698i 0 + 0.0615i 0 + 0.0525i 0 + 0.0420i 0 + 0.0286i 0.0093
Columns 25 through 32
0.0309 0.0423 0.0508 0.0579 0.0692 0.07390.0781 0.0820 0.0781 0.0820
0.0856 0.0888 0.0919 0.0947 0.0973 0.09980.1082 0.1082
yF2 =
Columns 1 through 8
0 + 0.4718i 0 + 0.4572i 0 + 0.4522i 0 + 0.4522i 0 + 0.4473i 0 + 0.4448i 0 + 0.4424i 0 + 0.4401i
Columns 9 through 16
0 + 0.4377i 0 + 0.4354i 0 + 0.4331i 0 + 0.4309i 0 + 0.4286i 0 + 0.4264i 0 + 0.4242i 0 + 0.4221i
Columns 17 through 24
0 + 0.4199i 0 + 0.4178i 0 + 0.4157i 0 + 0.4137i 0 + 0.4116i 0 + 0.4096i 0 + 0.4076i 0 + 0.4056i
Columns 25 through 32
0 + 0.4036i 0 + 0.4017i 0 + 0.3997i 0 + 0.3978i 0 + 0.3941i 0 + 0.3922i 0 + 0.3904i 0 + 0.3886i
Columns 33 through 39
0 + 0.3868i 0 + 0.3850i 0 + 0.3832i 0 + 0.3814i 0 + 0.3797i 0 + 0.3780i 0 + 0.3712i yF = Columns 1 through 16 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Columns 17 through 32 0 0 0.0195 0.0393 0.0517 0.0612 0.0691 0.0759 0.0819 0.0873 0.0922 0.0966 0.1045 0.1080 0.1113 0.1143 Columns 33 through 39 0.1172 0.1198 0.1224 0.1247 0.1270 0.1291 0.1365 x =
- a1/4 - ((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2)/(6*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/6)) - (12*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2) - 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) +
27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2) - (b1 - (3*a1^2)/8)^2*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2) + 3*6^(1/2)*(a1^3/8 - (b1*a1)/2 + c1)*(2*(b1 - (3*a1^2)/8)^3 + 27*(a1^3/8 - (b1*a1)/2 + c1)^2 + 3*3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2) + 72*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2) - 12*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 -
(b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2))^(1/2)/(6*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/6)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/4))
(12*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2) - 9*((b1 -
(3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2) - (b1 - (3*a1^2)/8)^2*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(2/3) + (3*a1^2*b1)/4 - 6*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3) - (9*a1^4)/64)^(1/2) + 3*6^(1/2)*(a1^3/8 - (b1*a1)/2 + c1)*(2*(b1 - (3*a1^2)/8)^3 + 27*(a1^3/8 - (b1*a1)/2 + c1)^2 + 3*3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2) + 72*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2) - 12*(b1 - (3*a1^2)/8)*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 -
(b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))^(1/2))/18 + (4*(b1 - (3*a1^2)/8)*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1))/3)^(1/3)*((b1 - (3*a1^2)/8)^2 - 3*a1*c1 - 12*d1 + 9*((b1 - (3*a1^2)/8)^3/27 + (a1^3/8 - (b1*a1)/2 + c1)^2/2 + (3^(1/2)*(4*(b1 - (3*a1^2)/8)^3*(a1^3/8 - (b1*a1)/2 + c1)^2 + 16*(b1 - (3*a1^2)/8)^4*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1) + 27*(a1^3/8 - (b1*a1)/2 + c1)^4 + 128*(b1 - (3*a1^2)/8)^2*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^2 + 256*((3*a1^4)/256 - (b1*a1^2)/16 + (c1*a1)/4 + d1)^3 + 144*(b1 - (3*a1^2)/8)*(a1^3/8 - (b1*a1)/2 + c1)^2*((3*a1^4)/256 -