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Nov 8th, 2019
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  1. 1;
  2.  
  3. clear all;
  4. %%%%%%%%CALCULATED FORCES%%%%%%%%%%%
  5. F_az = 588.60 ;
  6.  
  7. Rbz= 7.951587e+02;
  8. Rcz= -4.486667e-01;
  9. Rez= -9.968817e+01 ;
  10. Rgz= -1.064218e+02;
  11. Rby= -4.081000e+00;
  12. Rcy= 1.632400e+01;
  13. Rex= -6.588500e+01;
  14. Rgx= -6.588500e+01;
  15.  
  16. %Old Values
  17. %Rbz= 1.591013e+03  ;
  18. %Rcz= 2.295387e+03  ;
  19. %Rez= -1.559891e+03 ;
  20. %Rgz= -1.737909e+03 ;
  21. %Rby= -1.977733e+01 ;
  22. %Rcy= 2.316773e+02  ;
  23. %Rex= -1.017800e+03 ;
  24. %Rgx= -1.090500e+03 ;
  25. W1 =  206.11;
  26. W2 =  131.77;
  27. W3 =  13.243;
  28. Wtg =  W3;
  29. Wtw =  W2;
  30. Wrg =  W1;
  31. Wrw =  Wrg;
  32. Wxg = Wtw;
  33. Wxw = Wtg;
  34. %W1 =  3297.8;
  35. %W2 =  2108.3;
  36. %W3 =  211.90;
  37.  
  38.  
  39. %%%%%%%%parameters%%%%%%%%%%%
  40. b = 0.05;
  41. c = 0.20;
  42. d = 0.25; %from 0.300;
  43. rG = 0.090;
  44. f = 0.04;
  45. g = 0.08;
  46. rW = 0.022;
  47.  
  48. %Winch shaft
  49. x = linspace (0, d, 1000);
  50. y1 = -F_az*H(x, 0) + Rbz*H(x, b) + Rcz*H(x, c) - Wrg*H(x, d);
  51. y2 = -F_az*M(x, 0) + Rbz*M(x, b) + Rcz*M(x, c) - Wrg*M(x, d) - Wxg*rG*H(x, d);
  52. figure(1)
  53. plot (x, y1)
  54. title ("Z Shear in Winch shaft");
  55. xlabel ("Length");
  56. ylabel ("Shear");
  57. xlim([0, 0.26]);
  58. grid on
  59. figure(2)
  60. plot (x, y2)
  61. title ("Y Moment in Winch shaft");
  62. xlabel ("Length");
  63. ylabel ("Moment");
  64. xlim([0, 0.26]);
  65. grid on
  66.  
  67. y3 = Rby*H(x, b) + Rcy*H(x, c) - Wtg*H(x, d);
  68. y4 = Rby*M(x, b) + Rcy*M(x, c) - Wtg*M(x, d);
  69.  
  70. figure(3)
  71. plot (x, y3)
  72. title ("Y Shear in Winch shaft");
  73. xlabel ("Length");
  74. ylabel ("Shear");
  75. xlim([0, 0.26]);
  76. grid on
  77. figure(4)
  78. plot (x, y4)
  79. title ("Z Moment in Winch shaft");
  80. xlabel ("Length");
  81. ylabel ("Moment");
  82. xlim([0, 0.26]);
  83. grid on
  84.  
  85. %Motor shaft
  86. x = linspace (0, g, 1000);
  87.  
  88. y5 = Rez*H(x, 0) + Wrw*H(x, f) + Rgz*H(x, g);
  89. y6 = Rez*M(x, 0) + Wrw*M(x, f) + Rgz*M(x, g);
  90.  
  91. figure(5)
  92. plot (x, y5)
  93. title ("Z Shear in Motor shaft");
  94. xlabel ("Length");
  95. ylabel ("Shear");
  96. xlim([0, 0.09]);
  97. grid on
  98. figure(6)
  99. plot (x, y6)
  100. title ("X Moment in Motor shaft");
  101. xlabel ("Length");
  102. ylabel ("Moment");
  103. xlim([0, 0.09]);
  104. grid on
  105.  
  106. y7 = Rex*H(x, 0) + Wtw*H(x, f) + Rgx*H(x, g);
  107. y8 = Rex*M(x, 0) + Wtw*M(x, f) + Rgx*M(x, g);
  108.  
  109. figure(7)
  110. plot (x, y7)
  111. title ("X Shear in Motor shaft");
  112. xlabel ("Length");
  113. ylabel ("Shear");
  114. xlim([0, 0.09]);
  115. grid on
  116. figure(8)
  117. plot (x, y8)
  118. title ("Z Moment in Motor shaft");
  119. xlabel ("Length");
  120. ylabel ("Moment");
  121. xlim([0, 0.09]);
  122. grid on
  123.  
  124. %%%% Max moment %%%%%%%%
  125.  
  126. MaxM_winch = 0;
  127. MaxM_winch_x = 0;
  128. for i = 1:1000
  129.     if sqrt(y2(i)^2 + y4(i)^2) > MaxM_winch
  130.         MaxM_winch = sqrt(y2(i)^2 + y4(i)^2);
  131.         MaxM_winch_x = i*d/1000;
  132.     end
  133. end
  134.  
  135.  
  136. MaxM_motor = 0;
  137. MaxM_motor_x = 0;
  138. for i = 1:1000
  139.     if sqrt(y6(i)^2 + y8(i)^2) > MaxM_motor
  140.         MaxM_motor = sqrt(y6(i)^2 + y8(i)^2);
  141.         MaxM_motor_x = i*g/1000;
  142.     end
  143. end
  144.  
  145.  
  146. %%%%% WINCH SHAFT DESIGN %%%%%%%%
  147.  
  148. rWinchShaft1 = 0.01; %mm to in
  149. Ma = MaxM_winch; %Nm to lb.in
  150. T_winch =  147.15; %Nm to lb.in
  151. Tm = T_winch; %lb.in
  152.  
  153. %%%%%%%%%%%%% GOODMAN %%%%%%%%%%
  154. conv = 0.1450377;
  155. Sut = 686 ; %MPA--> kpsi
  156. Sy = 490; %MPa --> kpsi
  157. Nf = 2.5;
  158. Lh = 6000; %hrs
  159. %Ka = 2.7*Sut^-0.265; %machined surface finish,
  160.  
  161. %Kb = 0.879 * Sut^-0.107; %girth factor for 2in MAX shaft (51mm)
  162. Ka = 4.51*Sut^-0.265 %machined surface finish,  Sut in MPa
  163.  
  164. Kb = 1.51 * (rWinchShaft1*2)^-0.107 %girth factor for shaft (>51mm)
  165. Ke = 1;
  166. Seprime = 0.5 * Sut;
  167. Se = Seprime*Ka*Kb*Ke;
  168.  
  169. RTa= 0.246 - (3.08e-3)*Sut + (1.51e-5)*Sut^2 - 2.67e-8*Sut^3;
  170. RTas= 0.190 - (2.51e-3) *Sut + (1.35e-5)*Sut^2 - 2.67e-8*Sut^3;
  171.  
  172. q = (1 + (RTa)/sqrt(rWinchShaft1))^(-1);
  173. qs = (1 + (RTas)/sqrt(rWinchShaft1))^(-1);
  174.  
  175. %Kt, Kts from graph%%%%%%%%%%
  176. Kt = 1.1; %guessed, need r/d and D/d
  177. Kts =1.1; %guessed, need r/d and D/d
  178.  
  179. %Kf = 1 + q*(Kt - 1); %imperial
  180. %Kfs = 1 + qs*(Kts - 1); %imperial
  181.  
  182. Kf = 1;
  183. Kfs = 1;
  184. dWinchShaft = ( (16*Nf/pi)*( 2*Kf*Ma/Se + sqrt(3)*Kfs*Tm/Sut ) )^(1/3)
  185.  
  186.  
  187. function y = H(x, a)
  188.     y = (x-a >= 0);
  189. end
  190.  
  191. function y = M(x, a)
  192.     y = ((x-a).*H(x,a));
  193. end
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