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本帖最后由 1713573225 于 2015-11-15 09:28 编辑
E=2.11e7;d=0.0095;I=1/64*d^4*pi;l1=0.1168; l2=0.2642;l3=0.2286;l4=0.1875;
Jp1=1.79e-5;Jd1=0.56e-5;Jp2=2.5193e-3;Jd2=3.6762e-3;Jp3=2.5193e-3;Jd3=3.6762e-3;
Jp4=4.854e-5;Jd4=0.57e-5;cblx=2e3;cbly=2e3;Jd5=7.526e-6;Jp5=8.78e-6;
c11=0.02;c12=0.04;e1=0.02e-3;e2=0.03e-3;c=0.152e-3;r=0.0125 ;miu=0.04;L=0.0178;
m1=0.0439;m2=0.02343;m3=0.5919;m4=0.5919;m5=0.09633;w=500;kblx=2e8;kbly=2e8;
a11=12*E*I/l1^3;a12=12*E*I/l2^3;a13=12*E*I/l3^3;a14=12*E*I/l4^3;
a21=1/2*l1*a11;a22=1/2*l2*a12;a23=1/2*l3*a13;a24=1/2*l3*a14;
a31=1/6*l1^2*a11;a32=1/6*l2^2*a12;a33=1/6*l3^2*a13;a34=1/6*l3^2*a14;
k11=a11;k12=a12;k13=-a11;k14=a12;k22=l1*a21-a31;k23=-a21;k24=a31;
k33=a11+a12;k34=-a21+a22;k35=-a12;k36=a22;k44=l1*a21-a31+l2*a22-a32;
k45=-a22;k46=a32;k55=a12+a13;k56=-a22+a23;k57=-a13;k58=a23;
k66=l2*a22-a32+l3*a23-a33;k67=-a23;k68=a33;k77=a13+a14;k78=-a23+a24;
k79=-a14;k710=a24;k88=l3*a23-a33+l4*a24-a34;k89=-a24;k810=a34;
k99=a14;k910=-a24;k1010=l4*a24-a34;
C1=diag([0,0,cblx,0,0,0,0,0,0,0,0,0,cbly,0,0,0,0,0,0,0]);
Mx=diag([m1 Jd1 m2 Jd2 m3 Jd3 m4 Jd4 m5 Jd5]);
My=Mx;
M1=zeros(10,10);
M=[Mx M1;M1 My];
J1=diag([0 Jp1,0,Jp2,0 Jp3 0 Jp4 0,Jp5]);
J2=zeros(10,10);
G=w*[J2,J1;-J2' J2];
Kx=[k11 k12 k13 k14 0 0 0 0 0 0;
k12 k22 k23 k24 0 0 0 0 0 0;
k13 k23 k33+kblx k34 k35 k36 0 0 0 0;
k14 k24 k34 k44 k45 k46 0 0 0 0;
0 0 k35 k45 k55 k56 k57 k58 0 0;
0 0 k36 k46 k56 k66 k67 k68 0 0;
0 0 0 0 k57 k67 k77 k78 k79 k710;
0 0 0 0 k58 k68 k78 k88 k89 k810;
0 0 0 0 0 0 k79 k89 k99 k910;
0 0 0 0 0 0 k710 k810 k910 k1010];
Ky=[k11 -k12 k13 -k14 0 0 0 0 0 0;
-k12 k22 -k23 k24 0 0 0 0 0 0;
k13 -k23 k33+kbly -k34 k35 -k36 0 0 0 0;
-k14 k24 -k34 k44 -k45 k46 0 0 0 0;
0 0 k35 -k45 k55 -k56 k57 -k58 0 0;
0 0 -k36 k46 -k56 k66 -k67 k68 0 0;
0 0 0 0 k57 -k67 k77 -k78 k79 -k710;
0 0 0 0 -k58 k68 -k78 k88 -k89 k810;
0 0 0 0 0 0 k79 -k89 k99 -k910;
0 0 0 0 0 0 -k710 k810 -k910 k1010];
K1=zeros(10,10);
K=[Kx K1;K1 Ky];
[U,w1]=eig(M\K);
x=U(:,1);
y=U(:,2);
y0=zeros(1,length(x));
z0=zeros(1,length(x));
plot3(x,y0,z0,'k-','LineWidth',2);
hold on;
plot3(x,y,z0,'b-','LineWidth',1);
for i = 1:length(x)
xx=[x(i),x(i)];
yy=[y0(i),y(i)];
zz=[z0(i),z0(i)];
plot3(xx,yy,zz,'b-','LineWidth',1);
alpha=0:pi/20:2*pi;
R=y(i)-y0(i);
Rx=ones(1,length(alpha))*x(i);
Ry=R*cos(alpha);
Rz=R*sin(alpha);
plot3(Rx,Ry,Rz,'r-','LineWidth',1);
end
grid on
ylim([-3*max(abs(y)),3*max(abs(y))]);
zlim([-3*max(abs(y)),3*max(abs(y))]);
view(45, 45);
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