Analisis Relativo Utilizando Algebra Compleja

MAURICIO BARRENO
19 de diciembre de 2013

La manivela AB esta girando en sentido horario a 2000rpm.

Realizar las Graficas:

r1 vs2
3 vs2

0.1.

Posici
on

r~1 = r~2 + r~3

Utilizando la notacion del Algebra Compleja.
r1 ei1 = r2 ei2 + r3 ei3
Pero: ei = cos() + isen()
Entonces:
r1 (cos(1 ) + isen(1 )) = r2 (cos(2 ) + isen(2 )) + r3 (cos(3 ) + isen(3 ))
pero : 1 = 0
r1 = r2 (cos(2 ) + isen(2 )) + r3 (cos(3 ) + isen(3 ))
Igualando parte real e imaginaria:
Imaginaria:
0 = r2 sen(2 ) + r3 sen(3 )
r3 sen(3 ) = r2 sen(2 )
r2
sen(2 ))
r3
r2
= sen1 ( sen(2 ))
r3

3 = sen1 (
3(2 )

Real:
r1 = r2 cos(2 ) + r3 cos(3 )

r1 = r2 cos(2 ) + r3 cos(sen1 (

r2
sen(2 )))
r3

r1 = r2 cos(2 ) + r3 cos(3(2 ) )

0.2.

Velocidad:

w2 = 209,74
2 = 0
dr1
dt

= Vp

r1 ei1 = r2 ei2 + r3 ei3

dr1 i1
dt e

+ r1 ei1 i1 =

dr2 i2
dt e

+ r2 ei2 i2 +

dr3 i3
dt e

+ r3 ei3 i3

Vp (cos 1 + i sin 1 ) = ir2 2 (cos 2 + i sin 2 ) + ir3 3 (cos 3 + i sin 3 )

Vp = ir2 2 cos 2 r2 2 sin 2 + ir3 3 cos 3 r3 3 sin 3
Parte Real:
Vp = r2 2 sin 2 r3 3 sin 3
Parte Imaginaria:
0 = ir2 2 cos 2 + ir3 3 cos 3
3 =

r2 2 cos 2
r3 sin 3

3(2 ) =

r2 2 cos 2
r3 sin 3(3 )

Reemplazando en la parte Real:

Vp = r2 2 sin 2 r3 (

r2 2 cos 2
) sin 3
r3 sin 3(3 )

Vp = r2 2 [tan 3 cos 2 sin 2

Vp(2 ) = r2 2 [tan 3(2 ) cos 2 sin 2 ]

0.3.

Aceleraci
on
Desarrollo
vp ej1 = r2 ej2 jw2 + r3 ej3 jw3

Aplicando:
d
dw
dv
du
(uvw) = uv
+ uw
+ vw
dx
dx
dx
dx
Entonces tenemos:
0

ap ej1 = r2 ej2 j2 +r2 ej2 jw2 (jw2 )+ej2 jw2 r2 +r3 ej3 j3 +r3 ej3 jw3 (jw3 )+ej3 jw3 r3
Sabemos que r2 = k

r2 = 0 y r3 = k

r3 = 0, entonces tenemos:

ap (cos1 +jsen1 ) = j2 r2 (cos2 +jsen2 )r2 w22 (cos2 +jsen2 )+j3 r3 (cos3 +jsen3 )r3 w32 (cos3 +jsen3
Sabemos que 1 = 0 y 2 = 0, entonces tenemos:
ap = r2 w22 cos2 jr2 w22 sen2 +jr3 3 cos3 r3 3 sen3 r3 w32 cos3 jr3 w32 sen3
Igualando parte real y parte imaginaria tenemos:
Parte imaginaria
0 = r2 w22 sen2 + r3 3 cos3 r3 w32 sen3
3 =

r2 w22 sen2 + r3 w32 sen3

r3 cos3

3 =

r2 w22 sen2
r3 w32 sen3
+
r3 cos3
r3 cos3

3 =

r2 w22 sen2
+ w32 tan3
r3 cos3

r2
sen2 , resolviendo esta ecuacion tenemos:
r3
p
r2
( 1 cos2 3 )2 = ( sen2 )2
r3

Sabemos que sen3 =

r2
sen2 )2
r3
r2
cos2 3 = 1 ( sen2 )2
r3
r
r2
cos3 = 1 ( sen2 )2
r3
p
r32 (r2 sen2 )2
cos3 =
r3
1 cos2 3 = (

sen3
tan3 =
cos3

r2
sen2
r3
tan3 = p 2
r3 (r2 sen2 )2
r3

 tan3 = p

r2 sen2
r32 (r2 sen2 )2

Ahora reemplazando en 3 , tenemos:

3 =

r w2 sen2
r2 sen2
p 2 2
+ w32 p 2
2
2
r3 (r2 sen2 )
r3 (r2 sen2 )2
r3
r3
3 =

r2 w22 sen2 w32 r2 sen2

p
r32 (r2 sen2 )2

(w2 w32 )r2 sen2

3 = p 22
r3 (r2 sen2 )2
Parte real
ap = r2 w22 cos2 r3 3 sen3 r3 w32 cos3
p
r32 (r2 sen2 )2
(w22 w32 )r2 sen2
r2
2
2
ap = r2 w2 cos2 r3 ( p 2
)( sen2 )r3 w3 (
)
r3
r3
r3 (r2 sen2 )2
q
(w22 w32 )(r2 sen2 )2
2

w
ap = r2 w22 cos2 + p
r32 (r2 sen2 )2
3
r32 (r2 sen2 )2
p
r2 w22 cos2 r32 (r2 sen2 )2 + (w22 w32 )(r2 sen2 )2 + w32 (r2 sen2 )2 r32 w32
p
ap =
r32 (r2 sen2 )2
p
w2 (r2 sen2 )2 r2 w22 cos2 r32 (r2 sen2 )2 r32 w32
p
ap = 2
r32 (r2 sen2 )2