{"id":14027,"date":"2025-09-17T11:04:44","date_gmt":"2025-09-17T02:04:44","guid":{"rendered":"https:\/\/blogs.mathworks.com\/japan-community\/?p=14027"},"modified":"2025-09-17T11:04:44","modified_gmt":"2025-09-17T02:04:44","slug":"simscape-equations-of-motion-from-block-source","status":"publish","type":"post","link":"https:\/\/blogs.mathworks.com\/japan-community\/2025\/09\/17\/simscape-equations-of-motion-from-block-source\/","title":{"rendered":"Simscape \u30e2\u30c7\u30eb\u304b\u3089\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3057\u3066\u307f\u308b\u301c\u30d6\u30ed\u30c3\u30af\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u8aad\u307f\u89e3\u304f\u301c"},"content":{"rendered":"

\u4eca\u56de\u306f\u30c6\u30af\u30cb\u30ab\u30eb\u30b3\u30f3\u30b5\u30eb\u30c6\u30a3\u30f3\u30b0\u90e8\u306e\u672c\u90f7\u304c\u304a\u9001\u308a\u3057\u307e\u3059\u3002<\/span><\/h2>\n

—<\/p>\n

\n
\n

\u306f\u3058\u3081\u306b<\/h3>\n<\/div>\n
\u3053\u3093\u306b\u3061\u306f\u3002\u30c6\u30af\u30cb\u30ab\u30eb\u30b3\u30f3\u30b5\u30eb\u30c6\u30a3\u30f3\u30b0\u90e8\u306e\u672c\u90f7\u3067\u3059\u3002\u524d\u56de\u306e\u30d6\u30ed\u30b0<\/a>\u3067\u306f\u3001Simscape\u306b\u304a\u3051\u308b\u300c\u30a2\u30af\u30ed\u30b9\u5909\u6570\u300d\u3068\u300c\u30b9\u30eb\u30fc\u5909\u6570\u300d\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3057\u305f\u3002<\/div>\n
\u4eca\u56de\u306f\u3001\u305d\u308c\u3089\u306e\u4fdd\u5b58\u5247\u3092\u9069\u7528\u3057\u3001Simscape\u30e2\u30c7\u30eb\u304b\u3089\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3057\u3066\u307f\u307e\u3059\u3002<\/div>\n
<\/div>\n
\u8a00\u3044\u63db\u3048\u308b\u3068\u3001Simscape\u304c\u5185\u90e8\u3067\u81ea\u52d5\u751f\u6210\u3057\u3066\u3044\u308b\u65b9\u7a0b\u5f0f\u306e\u69cb\u7bc9\u30d7\u30ed\u30bb\u30b9\u3092\u624b\u4f5c\u696d\u3067\u518d\u73fe\u3057\u3001\u305d\u306e\u4ed5\u7d44\u307f\u3092\u3088\u308a\u6df1\u304f\u7406\u89e3\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002<\/div>\n
<\/div>\n
\u305f\u3060\u3057\u3001\u53b3\u5bc6\u306b\u3084\u308b\u3068\u6570\u5f0f\u304c\u7169\u96d1\u306b\u306a\u308b\u305f\u3081\u3001\u4eca\u56de\u306f\u672c\u8cea\u304c\u4f1d\u308f\u308b\u7a0b\u5ea6\u306b\u7c21\u7565\u5316\u3057\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002<\/div>\n
<\/div>\n

\u30de\u30b9\u30fb\u30d0\u30cd\u30fb\u30c0\u30f3\u30d1\u7cfb\u306eSimscape\u30e2\u30c7\u30eb<\/h3>\n
<\/div>\n
\u4eca\u56de\u6271\u3046\u306e\u306f\u3001\u4ee5\u4e0b\u306e\u56f31\u306b\u793a\u3059\u3088\u3046\u306a\u30de\u30b9\u30fb\u30d0\u30cd\u30fb\u30c0\u30f3\u30d1\u7cfb\u306eSimscape\u30e2\u30c7\u30eb\u3067\u3059\u3002 \u3053\u308c\u306fMathWorks\u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u3042\u308b\u30e2\u30c7\u30eb\u3092\u5c11\u3057\u66f8\u304d\u63db\u3048\u305f\u3082\u306e\u3067\u3059\u3002\u30de\u30b9\u30fb\u30d0\u30cd\u30fb\u30c0\u30f3\u30d1\u306e\u5404\u8981\u7d20\u304c\u8996\u899a\u7684\u306b\u63a5\u7d9a\u3055\u308c\u3066\u304a\u308a\u3001\u524d\u56de\u306e\u30d6\u30ed\u30b0\u3067\u8ff0\u3079\u305f\u300c\u76f4\u611f\u7684\u306a\u30e2\u30c7\u30ea\u30f3\u30b0\u300d\u304c\u53ef\u80fd\u3067\u3042\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\u3002<\/div>\n
<\/div>\n
\"Fig01a.png\"<\/div>\n
\u53c2\u7167: Mass-Spring-Damper in Simulink and Simscape – MathWorks<\/a><\/div>\n
<\/div>\n

\u6e96\u5099<\/h3>\n
<\/div>\n
\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3059\u308b\u524d\u306b\u3001\u3044\u304f\u3064\u304b\u306e\u6e96\u5099\u3092\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\u3002<\/div>\n
\u56f31\u306b\u305d\u306e\u5185\u5bb9\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002<\/div>\n
<\/div>\n

\u30ce\u30fc\u30c9\u306e\u547d\u540d<\/h4>\n
<\/div>\n
\u56f31\u306b\u306f\u4e8c\u7b87\u6240\u306b\u30ce\u30fc\u30c9\u304c\u3042\u308a\u3001\u305d\u308c\u305e\u308c\u306b\u540d\u524d\u3092\u4ed8\u3051\u3066\u304a\u304d\u307e\u3059\u3002\u53f3\u5074\u3092\u300c\u30ce\u30fc\u30c91\u300d\u3001\u5de6\u5074\u3092\u300c\u30ce\u30fc\u30c92\u300d\u3068\u3057\u307e\u3059\u3002<\/div>\n
\u306a\u304a\u3001\u5de6\u5074\u306b\u306f\u30ce\u30fc\u30c9\u304c2\u3064\u3042\u308b\u3088\u3046\u306b\u898b\u3048\u307e\u3059\u304c\u3001\u3053\u308c\u3089\u306f\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u305f\u3081\u3001\u5b9f\u8cea\u7684\u306b\u306f1\u3064\u306e\u30ce\u30fc\u30c9\u3068\u307f\u306a\u305b\u307e\u3059\u3002<\/div>\n
<\/div>\n

\u30a2\u30af\u30ed\u30b9\u5909\u6570\uff08\u901f\u5ea6\uff09<\/h4>\n
<\/div>\n
    \n
  • \u30b9\u30d7\u30ea\u30f3\u30b0\u30d6\u30ed\u30c3\u30af\u306e\u30a2\u30af\u30ed\u30b9\u5909\u6570\uff08\u901f\u5ea6\uff09\u3092 $ v_1 $<\/span><\/li>\n
  • \u30c0\u30f3\u30d1\u30d6\u30ed\u30c3\u30af\u306e\u30a2\u30af\u30ed\u30b9\u5909\u6570\u3092 $ v_2 $<\/span><\/li>\n<\/ul>\n
    \u3068\u5b9a\u7fa9\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306f\u3001\u305d\u308c\u305e\u308c\u306e\u30d6\u30ed\u30c3\u30af\u306b\u304a\u3051\u308bC\u30ce\u30fc\u30c9\u3068R\u30ce\u30fc\u30c9\u9593\u306e\u901f\u5ea6\u5dee\u3067\u3059\u3002<\/div>\n
    <\/div>\n

    \u30b9\u30eb\u30fc\u5909\u6570\uff08\u529b\uff09<\/h4>\n
    <\/div>\n
    \u30ce\u30fc\u30c91\u306b\u304a\u3051\u308b\u30b9\u30eb\u30fc\u5909\u6570\u306f\u3001\u56f31\u306e\u3088\u3046\u306b\u5b9a\u7fa9\u3057\u307e\u3059\u3002<\/div>\n
    \u30ce\u30fc\u30c91\u304b\u3089\u5404\u30d6\u30ed\u30c3\u30af\u306b\u5411\u304b\u3046\u65b9\u5411\u3092\u6b63\u3068\u3057\u3001\u30b9\u30d7\u30ea\u30f3\u30b0\u3001\u30c0\u30f3\u30d1\u3001\u30de\u30b9\u306b\u304b\u304b\u308b\u529b\u3092\u305d\u308c\u305e\u308c $ F_1 $<\/span>, $ F_2 $<\/span>, $ F_3 $<\/span> \u3068\u3057\u307e\u3059\u3002<\/div>\n
    <\/div>\n
    <\/div>\n

    \u30a2\u30af\u30ed\u30b9\u30fb\u30b9\u30eb\u30fc\u5909\u6570\u306e\u4fdd\u5b58\u5247\uff08\u304a\u3055\u3089\u3044\uff09<\/h2>\n
    <\/div>\n
    \u3053\u3053\u3067\u3001\u30a2\u30af\u30ed\u30b9\u30fb\u30b9\u30eb\u30fc\u5909\u6570\u306e\u4fdd\u5b58\u5247\u3092\u7c21\u5358\u306b\u304a\u3055\u3089\u3044\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/div>\n\n\n\n\n\n
    \n
    \u5909\u6570<\/div>\n<\/td>\n
    		\n
    \u4fdd\u5b58\u5247<\/div>\n<\/td>\n<\/tr>\n
    \n
    \u30a2\u30af\u30ed\u30b9\u5909\u6570<\/div>\n<\/td>\n
    		\n
    \u30eb\u30fc\u30d7\u3092\u5f62\u6210\u3059\u308b\u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u548c\u306f\u30bc\u30ed\u3001\u307e\u305f\u306f\u30ce\u30fc\u30c9\u9593\u306e\u30a2\u30af\u30ed\u30b9\u5909\u6570\u306f\u7b49\u3057\u3044\u3002<\/div>\n<\/td>\n<\/tr>\n
    \n
    \u30b9\u30eb\u30fc\u5909\u6570<\/div>\n<\/td>\n
    		\n
    1\u3064\u306e\u30ce\u30fc\u30c9\u306b\u6d41\u308c\u8fbc\u3080\u30b9\u30eb\u30fc\u5909\u6570\u306e\u7dcf\u548c\u306f\u30bc\u30ed\u3002<\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    <\/div>\n
    \u3053\u308c\u3089\u306e\u4fdd\u5b58\u5247\u3092\u56f32\u306b\u307e\u3068\u3081\u307e\u3057\u305f\u3002\u5de6\u5074\u304c\u30b9\u30eb\u30fc\u5909\u6570\u3001\u53f3\u5074\u304c\u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u4fdd\u5b58\u5247\u3067\u3059\u3002<\/div>\n
    <\/div>\n
    \"Fig02a.png\"<\/div>\n
    <\/div>\n

    \u5404\u8981\u7d20\u306e\u65b9\u7a0b\u5f0f<\/h3>\n
    <\/div>\n
    \u305d\u308c\u3067\u306f\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3092\u958b\u59cb\u3057\u307e\u3057\u3087\u3046\u3002\u5927\u96d1\u628a\u306a\u6d41\u308c\u306f\u6b21\u306e\u901a\u308a\u3067\u3059:\u307e\u305a\u8981\u7d20\u306e\u65b9\u7a0b\u5f0f\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002\u6b21\u306b\u305d\u308c\u3089\u306b\u4fdd\u5b58\u5247\u3092\u9069\u7528\u3057\u307e\u3059\u3002\u305d\u3057\u3066\u3001\u6700\u7d42\u7684\u306a\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3057\u307e\u3059\u3002<\/div>\n
    <\/div>\n
    \u30de\u30b9\u30fb\u30d0\u30cd\u30fb\u30c0\u30f3\u30d1\u7cfb\u3092\u69cb\u6210\u3059\u308b\u5404\u8981\u7d20\u306e\u65b9\u7a0b\u5f0f\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\u3002<\/div>\n
    \u305d\u308c\u305e\u308c\u306e\u30d6\u30ed\u30c3\u30af\u306b\u304a\u3051\u308b\u7269\u7406\u91cf\uff08\u5909\u4f4d\u3001\u901f\u5ea6\u3001\u529b\uff09\u306b\u306f\u3001\u9806\u306b\u6dfb\u5b57\u3092\u4ed8\u3051\u3066\u6574\u7406\u3057\u3066\u3044\u307e\u3059\u3002<\/div>\n
    <\/div>\n

    \u30d0\u30cd\uff08Translational Spring \u30d6\u30ed\u30c3\u30af\uff09<\/h3>\n
    <\/div>\n
    \u7686\u3055\u3093\u306fSimscape\u30d6\u30ed\u30c3\u30af\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u78ba\u8a8d\u3057\u305f\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u304b\uff1f\u3059\u3079\u3066\u3067\u306f\u306a\u3044\u3067\u3059\u304c\u3001\u591a\u304f\u306eSimscape\u30d6\u30ed\u30c3\u30af\u306f\u5185\u90e8\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/div>\n
    \u78ba\u8a8d\u65b9\u6cd5\u306f\u3001\u307e\u305a\u30d6\u30ed\u30c3\u30af\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af\u3057\u3066\u30d6\u30ed\u30c3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u306e\u30c0\u30a4\u30a2\u30ed\u30b0\u30dc\u30c3\u30af\u30b9\u3092\u958b\u304d\u307e\u3059\u3002\u6b21\u306b\u8aac\u660e\u30bf\u30d6\u306b\u3042\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u30ea\u30f3\u30af\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002\u3059\u308b\u3068\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304cMATLAB\u3067\u30aa\u30fc\u30d7\u30f3\u3055\u308c\u307e\u3059\u3002\u56f33\u306b\u30d0\u30cd(Translational Spring)\u30d6\u30ed\u30c3\u30af\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u30ea\u30f3\u30af\u3068\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u4f8b\u3092\u793a\u3057\u3066\u3042\u308a\u307e\u3059\u3002<\/div>\n
    \"Fig03a.png\"<\/div>\n
    \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306eequations\u69cb\u6587\u3092\u5f15\u7528\u3057\u307e\u3059:<\/div>\n
    \n
    \n
    equations<\/span><\/span><\/div>\n<\/div>\n
    \n
    assert(spr_rate>0)<\/span><\/div>\n<\/div>\n
    \n
    v == x.der;<\/span><\/div>\n<\/div>\n
    \n
    f == spr_rate * x;<\/span><\/div>\n<\/div>\n
    \n
    end<\/span><\/span><\/div>\n<\/div>\n<\/div>\n
    \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306fSimscape\u8a00\u8a9e\u3067\u8a18\u8ff0\u3055\u308c\u3066\u3044\u307e\u3059\u3002Simscape\u8a00\u8a9e\u306f\u3001\u7269\u7406\u30e2\u30c7\u30ea\u30f3\u30b0\u306e\u305f\u3081\u306bMATLAB\u8a00\u8a9e\u3092\u62e1\u5f35\u3057\u305f\u56fa\u6709\u8a00\u8a9e\u3067\u3042\u308a\u3001\u30d6\u30ed\u30c3\u30af\u306e\u52d5\u4f5c\u3092\u8a18\u8ff0\u3059\u308b\u305f\u3081\u306b\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u4e0a\u306e\u4f8b\u3067\u3001.der\u306f\u6642\u9593\u5fae\u5206\u3092\u3001== \u306f\u4ee3\u5165\u3067\u306f\u306a\u304f\u300c\u7b49\u3057\u3044\u300d\u3092\u8868\u73fe\u3057\u3066\u3044\u307e\u3059\u3002f\u306f\u529b(\u30b9\u30eb\u30fc\u5909\u6570)\u3001v\u306f\u901f\u5ea6(\u30a2\u30af\u30ed\u30b9\u5909\u6570)\u3001x\u306f\u30d0\u30cd\u306e\u5909\u4f4d\u3001spr_rate\u306f\u30d0\u30cd\u5b9a\u6570\u3067\u3059\u3002<\/div>\n
    \u3053\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304b\u3089\u3001\u3053\u306e\u30d6\u30ed\u30c3\u30af\u306e\u65b9\u7a0b\u5f0f\u3092\u66f8\u304d\u51fa\u3057\u3066\u3044\u304d\u307e\u3059\u3002\u4eba\u9593\u304c\u8aad\u307f\u3084\u3059\u3044\u3088\u3046\u306b\u7269\u7406\u5909\u6570\u306f\u4e00\u822c\u7684\u306a\u8868\u8a18\u306b\u66f8\u304d\u63db\u3048\u3066\u3044\u307e\u3059\u3002\u30d0\u30cd\u306e\u529b$ F_1 $<\/span>\u306f\u3001\u30d0\u30cd\u5b9a\u6570 k<\/span> \u3068\u5909\u4f4d\u91cf $ x_1 $<\/span> \u306e\u7a4d\u3067\u8868\u3055\u308c\u307e\u3059\uff1a<\/div>\n
    $ F_1 = k \\cdot x_1 $<\/span><\/div>\n
    $ v_1 = \\dot{x}_1 $<\/span><\/div>\n
    \u5909\u4f4d$ x_1 $<\/span>\u306e\u6642\u9593\u5fae\u5206\u304c\u901f\u5ea6$ v_1 $<\/span> \u3067\u3059\u3002 \u3053\u308c\u306f\u4e00\u822c\u7684\u306b\u3088\u304f\u77e5\u3089\u308c\u305f\u30d0\u30cd\u306e\u65b9\u7a0b\u5f0f\u3067\u3059\u3002<\/div>\n
    \u30ce\u30fc\u30c9\u306f C1, R1 \u3068\u3057\u3001$ v_1 = \\mathrm{R1}.v – \\mathrm{C1}.v $<\/span> \u3068\u5b9a\u7fa9\u3057\u307e\u3059\u3002\u3053\u306e\u95a2\u4fc2\u306f\u4e0a\u8a18\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306b\u306f\u76f4\u63a5\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u3069\u3053\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u304b\u3068\u8a00\u3046\u3068\u3001\u3053\u306e\u30d6\u30ed\u30c3\u30af\u304c\u7d99\u627f\u3057\u3066\u3044\u308bfoundation.mechanical.translational.branch\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/div>\n
    \u56f34\u306b\u30d0\u30cd(Translational Spring)\u30d6\u30ed\u30c3\u30af\u306e\u30dd\u30fc\u30c8\u3001\u304a\u3088\u3073\u30a2\u30af\u30ed\u30b9\u30fb\u30b9\u30eb\u30fc\u5909\u6570\u3068\u65b9\u7a0b\u5f0f\u3092\u307e\u3068\u3081\u3066\u3042\u308a\u307e\u3059\u3002<\/div>\n
    <\/div>\n
    \"Fig04a.png\"<\/div>\n
    <\/div>\n

    \u30c0\u30f3\u30d1\uff08Translational Damper \u30d6\u30ed\u30c3\u30af\uff09<\/h3>\n
    <\/div>\n
    \u6b21\u306f\u30c0\u30f3\u30d1\u306e\u65b9\u7a0b\u5f0f\u3067\u3059\u3002\u30d0\u30cd\u3068\u540c\u69d8\u306b\u30d6\u30ed\u30c3\u30af\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u4e00\u90e8\u3092\u5f15\u7528\u3057\u307e\u3059:<\/div>\n
    \n
    \n
    equations<\/span><\/span><\/div>\n<\/div>\n
    \n
    f == b * v;<\/span><\/div>\n<\/div>\n
    \n
    v == R.v – C.v;<\/span><\/div>\n<\/div>\n
    \n
    end<\/span><\/span><\/div>\n<\/div>\n<\/div>\n
    f, v\u306f\u30d0\u30cd\u3068\u540c\u69d8\u3001b\u306f\u6e1b\u8870\u4fc2\u6570\u3067\u3059\u3002\u3053\u306e\u30d6\u30ed\u30c3\u30af\u306ffoundation.mechanical.translational.branch\u3092\u7d99\u627f\u3057\u3066\u3044\u306a\u3044\u305f\u3081\u3001\u30a2\u30af\u30ed\u30b9\u5909\u6570v\u3068\u30ce\u30fc\u30c9\u3067\u306e\u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u95a2\u4fc2\u304c\u76f4\u63a5\u8a18\u8ff0\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/div>\n
    \u6e1b\u8870\u4fc2\u6570\u306e\u8a18\u53f7b\u3092\u4e00\u822c\u7684\u306a\u8868\u8a18\u306ec<\/span>\u306b\u5909\u66f4\u3057\u3066\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u65b9\u7a0b\u5f0f\u3092\u66f8\u304d\u51fa\u3059\u3053\u3068\u304c\u51fa\u6765\u307e\u3059\u3002\u30c0\u30f3\u30d1\u306e\u529b$ F_2 $<\/span>\u306f\u3001\u6e1b\u8870\u4fc2\u6570 c<\/span> \u3068\u901f\u5ea6 $ v_2 $<\/span> \u306e\u7a4d\u3067\u3059\uff1a<\/div>\n
    $ F_2 = c \\cdot v_2 $<\/span><\/div>\n
    \u30ce\u30fc\u30c9\u306f C2, R2 \u3068\u3057\u3001$ v_2 = \\mathrm{R2}.v – \\mathrm{C2}.v $<\/span> \u3068\u5b9a\u7fa9\u3057\u307e\u3059\u3002<\/div>\n
    \u56f35\u306b\u30c0\u30f3\u30d1(Translational Damper)\u30d6\u30ed\u30c3\u30af\u306e\u30dd\u30fc\u30c8\u3001\u304a\u3088\u3073\u30a2\u30af\u30ed\u30b9\u30fb\u30b9\u30eb\u30fc\u5909\u6570\u3068\u65b9\u7a0b\u5f0f\u3092\u307e\u3068\u3081\u3066\u3042\u308a\u307e\u3059\u3002<\/div>\n
    \"Fig05a.png\"<\/div>\n
    <\/div>\n

    \u30de\u30b9\uff08Mass \u30d6\u30ed\u30c3\u30af\uff09<\/h3>\n
    <\/div>\n
    \u3053\u306e\u30d6\u30ed\u30c3\u30af\u306f\u30ce\u30fc\u30c9\u304c1\u3064\uff08M\uff09\u3060\u3051\u3068\u3044\u3046\u70b9\u3067\u5c11\u3057\u7279\u6b8a\u3067\u3059\u3002\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u4e00\u90e8\u3092\u5f15\u7528\u3057\u307e\u3059:<\/div>\n
    \n
    \n
    equations<\/span><\/span><\/div>\n<\/div>\n
    \n
    f == mass * v.der;<\/span><\/div>\n<\/div>\n
    \n
    v == M.v;<\/span><\/div>\n<\/div>\n
    \n
    end<\/span><\/span><\/div>\n<\/div>\n<\/div>\n
    \u8cea\u91cfmass\u3092\u4e00\u822c\u7684\u306a\u8868\u8a18\u306em<\/span>\u306b\u5909\u66f4\u3057\u3066\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u66f8\u304d\u51fa\u3057\u307e\u3059\u3002\u30de\u30b9\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u306f\u3001\u8cea\u91cf m<\/span> \u3068\u52a0\u901f\u5ea6 $ \\dot{v}_3 $<\/span> \u306e\u7a4d\u304c\u529b $ F_3 $<\/span> \u306b\u7b49\u3057\u3044\u3068\u3044\u3046\u3001\u30cb\u30e5\u30fc\u30c8\u30f3\u306e\u6cd5\u5247\u3067\u3059\uff1a<\/div>\n
    $ F_3 = m \\cdot \\dot{v}_3 $<\/span><\/div>\n
    \u30ce\u30fc\u30c9M\u306b\u304a\u3051\u308b\u901f\u5ea6\u306f $ \\mathrm{M}.v = v_3 $<\/span> \u3067\u3059\u3002<\/div>\n
    \u56f36\u306b\u30de\u30b9(Mass)\u30d6\u30ed\u30c3\u30af\u306e\u30dd\u30fc\u30c8\u3001\u304a\u3088\u3073\u30a2\u30af\u30ed\u30b9\u30fb\u30b9\u30eb\u30fc\u5909\u6570\u3068\u65b9\u7a0b\u5f0f\u3092\u307e\u3068\u3081\u3066\u3042\u308a\u307e\u3059\u3002<\/div>\n
    <\/div>\n
    \"Fig06a.png\"<\/div>\n
    <\/div>\n

    \u30ea\u30d5\u30a1\u30ec\u30f3\u30b9\uff08Mechanical Translational Reference \u30d6\u30ed\u30c3\u30af\uff09<\/h3>\n
    <\/div>\n
    \u3053\u306e\u30d6\u30ed\u30c3\u30af\u3082\u7279\u6b8a\u3067\u3001\u4ee5\u4e0b\u306e2\u70b9\u304c\u7279\u5fb4\u3067\u3059\uff1a<\/div>\n
    1. \u30ce\u30fc\u30c9\u304c1\u3064\uff08V\uff09\u3060\u3051<\/div>\n
    2. \u5ea7\u6a19\u306e\u539f\u70b9\u3092\u5b9a\u7fa9\u3059\u308b<\/div>\n
    \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9(\u4e00\u90e8)\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059:<\/div>\n
    \n
    \n
    connections<\/span><\/span><\/div>\n<\/div>\n
    \n
    connect(V, *);<\/span><\/div>\n<\/div>\n
    \n
    end<\/span><\/span><\/div>\n<\/div>\n<\/div>\n
    \u4ed6\u306e\u30d6\u30ed\u30c3\u30af\u3068\u9055\u3063\u3066equations\u306e\u69cb\u6587\u304c\u306a\u304fconnections\u306e\u69cb\u6587\u306e\u307f\u3067\u3059\u3002connections<\/span> \u306f\u3001\u30ce\u30fc\u30c9\u9593\u306e\u63a5\u7d9a\u3092\u5b9a\u7fa9\u3059\u308b\u3082\u306e\u3067\u3001connect(V, <\/span>);<\/span> \u306f\u3001\u30ce\u30fc\u30c9 <\/span>V<\/span> \u3092\u30b0\u30ed\u30fc\u30d0\u30eb\u306a\u6a5f\u68b0\u7684\u57fa\u6e96\u70b9<\/span>\u306b\u63a5\u7d9a\u3059\u308b\u3053\u3068\u3092\u610f\u5473\u3057\u307e\u3059\u3002*<\/span> \u306f Simscape \u306b\u304a\u3051\u308b\u300c\u7269\u7406\u7684\u57fa\u6e96\u70b9\uff08ground\uff09\u300d\u3092\u8868\u3059\u7279\u6b8a\u306a\u8a18\u53f7\u3067\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001V<\/span> \u306f\u52d5\u304b\u306a\u3044\u7d76\u5bfe\u7684\u306a\u57fa\u6e96\u70b9\u3068\u3057\u3066\u6a5f\u80fd\u3057\u307e\u3059\u3002\u4f55\u306e\u57fa\u6e96\u304b\u3068\u3044\u3046\u3068\u3001\u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u57fa\u6e96\u3067\u3059\u3002<\/div>\n
    \u8868\u8a18\u3092\u5206\u304b\u308a\u3084\u3059\u304f\u3059\u308b\u305f\u3081\u306b\u30ce\u30fc\u30c9V\u306e\u30a2\u30af\u30ed\u30b9\u5909\u6570\u3092$ v_4 $<\/span>\u3068\u3057\u307e\u3059\u3002\u3053\u3046\u3059\u308b\u3068\u5909\u4f4d $ x_4 = 0 $<\/span> \u3001\u901f\u5ea6 $ v_4 = 0 $<\/span> \u3068\u306a\u308a\u307e\u3059\u3002<\/div>\n
    \u56f37\u306b\u30ea\u30d5\u30a1\u30ec\u30f3\u30b9(Mechanical Translational Reference)\u30d6\u30ed\u30c3\u30af\u306e\u30dd\u30fc\u30c8\u3001\u304a\u3088\u3073\u30a2\u30af\u30ed\u30b9\u5909\u6570\u3068\u65b9\u7a0b\u5f0f\u3092\u307e\u3068\u3081\u3066\u3042\u308a\u307e\u3059\u3002<\/div>\n
    <\/div>\n
    \"Fig07a.png\"<\/div>\n

    \u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u4fdd\u5b58\u5247\u306e\u9069\u7528<\/h2>\n
    <\/div>\n
    \u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u4fdd\u5b58\u5247\u306f\u3001\u6b21\u306e\u3088\u3046\u306b\u3082\u8a00\u3044\u63db\u3048\u3089\u308c\u307e\u3059\uff1a<\/div>\n
    > \u300c\u5404\u30ce\u30fc\u30c9\u306b\u63a5\u7d9a\u3055\u308c\u305f\u3059\u3079\u3066\u306e\u30d6\u30ed\u30c3\u30af\u306b\u304a\u3044\u3066\u3001\u305d\u306e\u30ce\u30fc\u30c9\u306b\u304a\u3051\u308b\u30a2\u30af\u30ed\u30b9\u5909\u6570\u306e\u5024\u306f\u7b49\u3057\u3044\u300d<\/div>\n
    \u3053\u306e\u4fdd\u5b58\u5247\u3092\u30ce\u30fc\u30c91\u3068\u30ce\u30fc\u30c92\u306b\u9069\u7528\u3057\u3001\u5f0f\u3092\u5c0e\u51fa\u3057\u307e\u3059\u3002\u3053\u308c\u3092\u56f38\u306b\u793a\u3057\u307e\u3057\u305f\u3002<\/div>\n
    \"Fig08a.png\"<\/div>\n
    <\/div>\n
    \u5909\u6570\u3092\u6574\u7406\u3057\u3066\u3001\u5404\u30d6\u30ed\u30c3\u30af\u306e\u65b9\u7a0b\u5f0f\u3092\u7c21\u6f54\u306b\u66f8\u304d\u76f4\u3059\u3068\u3001\u6570\u5f0f\u304c\u304b\u306a\u308a\u3059\u3063\u304d\u308a\u3057\u307e\u3059\u3002\u56f39\u306b\u5404\u30d6\u30ed\u30c3\u30af\u306e\u65b9\u7a0b\u5f0f\u3092\u66f8\u304d\u76f4\u3057\u305f\u7d50\u679c\u3092\u793a\u3057\u307e\u3057\u305f\u3002<\/div>\n
    \"Fig09a.png\"<\/div>\n
    <\/div>\n

    \u5168\u4f53\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f<\/h2>\n
    <\/div>\n
    \u6700\u5f8c\u306b\u3001\u30b9\u30eb\u30fc\u5909\u6570\u306e\u4fdd\u5b58\u5247\u3092\u4f7f\u3063\u3066\u5168\u4f53\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u69cb\u7bc9\u3057\u307e\u3059\u3002<\/div>\n
    \u30ce\u30fc\u30c91\u306b\u304a\u3051\u308b\u30b9\u30eb\u30fc\u5909\u6570\u306e\u4fdd\u5b58\u5247\u3092\u9069\u7528\u3057\u3001$ F_1, F_2, F_3 $<\/span> \u3092\u305d\u308c\u305e\u308c\u306e\u5f0f\u306b\u4ee3\u5165\u3059\u308b\u3068\u3001<\/div>\n
    $ F_1 + F_2 + F_3 = 0. $<\/span><\/div>\n
    \u3068\u306a\u308a\u307e\u3059\u3002\u3053\u306e$ F_1, F_2, F_3 $<\/span>\u306b\u305d\u308c\u305e\u308c\u56f39\u306b\u3042\u308b\u5404\u30d6\u30ed\u30c3\u30af\u306e\u65b9\u7a0b\u5f0f\u3092\u4ee3\u5165\u3059\u308b\u3053\u3068\u3067\u3001\u6700\u7d42\u7684\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3001\u3088\u304f\u77e5\u3089\u308c\u305f\u30de\u30b9\u30fb\u30d0\u30cd\u30fb\u30c0\u30f3\u30d1\u7cfb\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u304c\u5f97\u3089\u308c\u307e\u3059\u3002\u56f310\u306b\u6700\u7d42\u7684\u306a\u65b9\u7a0b\u5f0f\u3092\u793a\u3057\u307e\u3057\u305f\u3002<\/div>\n
    \"Fig10a.png\"<\/div>\n

    \u5fdc\u7528\u7de8<\/h2>\n
    \u3053\u3053\u307e\u3067\u306e\u4f8b\u306f\u5916\u529b\u304c\u5b58\u5728\u3057\u306a\u3044\u5834\u5408\u3067\u3059\u3002\u5b9f\u969b\u306e\u30e2\u30c7\u30ea\u30f3\u30b0\u3067\u306f\u5916\u529b\u304c\u5b58\u5728\u3059\u308b\u30b1\u30fc\u30b9\u304c\u4e00\u822c\u7684\u3067\u3059\u3002\u5916\u529b\u304c\u3042\u308b\u5834\u5408\u306f\u3001\u30e2\u30c7\u30eb\u306bIdeal Force Source\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u56f31\u306e\u30e2\u30c7\u30eb\u306e\u30ce\u30fc\u30c91\u306bIdeal Force Source \u306eR\u7aef\u5b50\u3092\u63a5\u7d9a\u3057\u3001C\u7aef\u5b50\u3092Reference\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002<\/div>\n
    \u3053\u306e\u969b\u3001\u30b9\u30eb\u30fc\u5909\u6570\u3067\u3042\u308b\u529b\u306e\u5411\u304d\u306fC\u2192R\u304c\u6b63\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u308c\u306fMechanical\u30c9\u30e1\u30a4\u30f3\u306eSource\u30d6\u30ed\u30c3\u30af\u306b\u5171\u901a\u3067\u3001R\u304b\u3089\u5916\u306b\u51fa\u308b\u5411\u304d\u304c\u529b\u306e\u6b63\u3084\u30c8\u30eb\u30af\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u306e\u5916\u529b\u3092F<\/span>\u3068\u3059\u308b\u3068\u3001\u6700\u7d42\u7684\u306a\u65b9\u7a0b\u5f0f\u306f\u3088\u304f\u77e5\u3089\u308c\u305f\u5f37\u5236\u632f\u52d5\u306e\u5f0f<\/div>\n
    $ F_1+F_2+F_3 = F $<\/span><\/div>\n
    \u306b\u306a\u308a\u307e\u3059\u3002\u305c\u3072\u5fa1\u81ea\u8eab\u3067\u5c0e\u51fa\u3092\u8a66\u3057\u3066\u307f\u3066\u4e0b\u3055\u3044\u3002<\/div>\n
    <\/div>\n

    \u304a\u308f\u308a\u306b<\/h2>\n
    <\/div>\n
    \u4eca\u56de\u306f\u3001Simscape\u30e2\u30c7\u30eb\u304b\u3089\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3059\u308b\u3068\u3044\u3046\u3001\u5c11\u3057\u30de\u30cb\u30a2\u30c3\u30af\u306a\u8a66\u307f\u3092\u3054\u7d39\u4ecb\u3057\u3066\u307f\u307e\u3057\u305f\u3002<\/div>\n
    Simscape\u304c\u5185\u90e8\u3067\u3069\u306e\u3088\u3046\u306b\u65b9\u7a0b\u5f0f\u3092\u69cb\u7bc9\u3057\u3066\u3044\u308b\u306e\u304b\u3001\u305d\u306e\u96f0\u56f2\u6c17\u3092\u611f\u3058\u53d6\u3063\u3066\u3044\u305f\u3060\u3051\u305f\u3089\u5b09\u3057\u3044\u3067\u3059\u3002\u4e0a\u306e\u4f8b\u3067\u306f\u30de\u30b9\u30fb\u30d0\u30cd\u30fb\u30c0\u30f3\u30d1\u7cfb\u3068\u3044\u3046\u6700\u3082\u5358\u7d14\u306a\u7cfb\u3092\u984c\u6750\u306b\u3057\u305f\u306e\u3067\u624b\u52d5\u3067\u306a\u3093\u3068\u304b\u30c8\u30ec\u30fc\u30b9\u3067\u304d\u307e\u3059\u3002\u7cfb\u304c\u8907\u96d1\u306b\u306a\u308b\u3068\u65b9\u7a0b\u5f0f\u3068\u5909\u6570\u304c\u5897\u3048\u3066\u3044\u304d\u307e\u3059\u304b\u3089\u624b\u52d5\u3067\u65b9\u7a0b\u5f0f\u3092\u5c0e\u51fa\u3059\u308b\u306e\u306f\u30cf\u30fc\u30c9\u30eb\u304c\u4e0a\u304c\u308a\u307e\u3059\u3002\u306a\u304a\u3001Simscape\u8a00\u8a9e\u306b\u95a2\u3057\u3066\u306f\u516c\u5f0f\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u304c\u3042\u308a\u307e\u3059(Simscape \u8a00\u8a9e\u5165\u9580<\/a>)\u3002<\/div>\n
    \u6570\u5024\u8a08\u7b97\u306e\u89b3\u70b9\u3067\u306f\u3001\u5909\u6570\u304c\u5897\u3048\u308b\u3068\u305d\u308c\u3060\u3051\u8a08\u7b97\u91cf\u304c\u5897\u3048\u307e\u3059\u3002Simscape\u306f\u30d6\u30ed\u30c3\u30af\u3092\u4e26\u3079\u308b\u3053\u3068\u3067\u76f4\u611f\u7684\u306a\u30e2\u30c7\u30ea\u30f3\u30b0\u304c\u53ef\u80fd\u3067\u3059\u304c\u3001\u5fc5\u8981\u4ee5\u4e0a\u306b\u8a08\u7b97\u91cf\u304c\u591a\u304f\u306a\u3063\u3066\u3044\u306a\u3044\u304b\u6ce8\u610f\u304c\u5fc5\u8981\u3067\u3059\u3002\u30e2\u30c7\u30ea\u30f3\u30b0\u306f\u307e\u305a\u5358\u7d14\u306a\u7cfb\u304b\u3089\u59cb\u3081\u3066\u3001\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u5fe0\u5b9f\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u308b\u3053\u3068\u304c\u91cd\u8981\u3067\u3059\u3002\u30e2\u30c7\u30ea\u30f3\u30b0\u5bfe\u8c61\u306e\u898f\u6a21\u304c\u5927\u304d\u304f\u306a\u308b\u3068\u3001\u3053\u306e\u91cd\u8981\u5ea6\u306f\u5897\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/div>\n
    <\/div>\n
    <\/div>\n
    <\/div>\n<\/div>\n