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各位大侠帮忙看看这个奇怪的问题:
function yansuan
% L=[1 2 3]
% b=[1/4*pi 1/6*pi -1/4*pi]
% F= [1 2 1]
% m=[1 2 1]
% w=[1/2*pi -1/2*pi -1/2*pi]
% Mc=[0 0 0]
% n=length(L);
L=[0.4 0.2 0.3 0.4];
b=[1/2*pi 1/4*pi 1/6*pi -1/4*pi];
F=[2 1 1 2];
m=[2 1 1 1];
w=[-1/2*pi -1/2*pi -1/2*pi -1/2*pi]
Mc=[0 0 0 0]
n=length(L)
for i=1:n
X(i)=L(i)*cos(b(i));
Y(i)=L(i)*sin(b(i));
end
p1=cumsum(X);
q1=cumsum(Y);
for i=1:n
varargout{i}=[p1(1,i),q1(1,i)];
end
for i=1:n
x(i+1)=varargout{i}(1);
y(i+1)=varargout{i}(2);
end
x(1)=0;
y(1)=0;
for i=1:n
Fx(i)=F(i)*cos(w(i));
Fy(i)=F(i)*sin(w(i));
Fa(3*i-2)=Fx(i);
Fa(3*i-1)=Fy(i);
Fa(3*i)=Mc(i);
end
syms x1 y1 m1 x2 y2 m2 x3 y3 m3 x4 y4 m4 x5 y5 m5 x6 y6 m6
qq=[x1 y1 m1 x2 y2 m2 x3 y3 m3 x4 y4 m4 x5 y5 m5 x6 y6 m6];
q=qq(1:3*n);
MK(1,1)=q(1)-1/2*L(1)*cos(q(3));
MK(2,1)=q(2)-1/2*L(1)*sin(q(3));
for i=2:n
MK(2*i-1,1)=q(3*i-2)-1/2*L(i)*cos(q(3*i))-q(3*i-5)-1/2*L(i-1)*cos(q(3*i-3));
MK(2*i,1)=q(3*i-1)-1/2*L(i)*cos(q(3*i))-q(3*i-4)-1/2*L(i-1)*sin(q(3*i-3));
end
MK(2*n+1,1)=x(n+1)-q(3*n-2)-1/2*L(n)*cos(q(3*n));
MK(2*n+2,1)=y(n+1)-q(3*n-1)-1/2*L(n)*sin(q(3*n));
M=[MK]
Mq=jacobian(M,q);
syms t
Mt=diff(M,t);
for i=1:3*n
Kq(:,i)=diff(Mq(:,i),q(i));
end
Mtt=diff(M,t,2)
Kt=diff(Mq,t)
% vq=[0.2;0.3;0.5;0.4;1.2;1.5;1.3;2.3;0.4]
vq=[0.2;0.3;0.12;0.32;0.45;-0.5;0.312;-0.123;0.002;0.21;0215;0.225];
r=-Kq*(vq.*vq)-2*Kt*vq-Mtt;
F=[Fa.';r];
for i=1:n
J(i)=1/12*m(i)*L(i)^2;
z(3*i-2)=m(i);
z(3*i-1)=m(i);
z(3*i)=J(i);
end
Z=diag(z);
N=length(F)-length(z);
MZ=[Z Mq.';Mq zeros(N)];
AK=MZ\F;
aq=AK(1:3*n);
x2=AK(3*n+1:end);
% q2=[0.2;0.3;0.1;0.4;0.25;0.36;0.47;0.25;0.21]
q2=[0.21;0.2;0.36;0.32;0.51;0.02;0.321;0.65;0.25;0.21;0.32;0.5]
q=q2'
q1=mat2cell(q,1,ones(1,3*n))
% aq=double(subs(aq,{x1 y1 m1 x2 y2 m2 x3 y3 m3},q1))
% Q=double(subs(x2,{x1 y1 m1 x2 y2 m2 x3 y3 m3},q1))
aq=double(subs(aq,{x1 y1 m1 x2 y2 m2 x3 y3 m3 x4 y4 m4},q1))
Q=double(subs(x2,{x1 y1 m1 x2 y2 m2 x3 y3 m3 x4 y4 m4},q1))
clear all
那位大侠帮忙看看。主要被注视掉的部分以及与之相同的没有被注释掉的部分。两者其实是一样的,只是数组的长度不一样而已,一个是四维数组,一个是三维数组。可是为什么数组为三维的时候,可以算出结果,但数组为四维的时候,却是算不出结果来呢?好奇怪哦!恳求那位大侠帮帮忙,小弟感激不尽了。很着急着用,求求各位大侠啦!! |
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