马上注册,结交更多好友,享用更多功能,让你轻松玩转社区。
您需要 登录 才可以下载或查看,没有账号?我要加入
x
我要用拉格朗日方程解决动力学问题! <BR>由matlab对t求导得到Ek如下式子,现在我需要对q(t)和q(t)的导数求导,请问该如何实 <BR>现,谢谢! <BR>Ek= <BR>1/2*m1*((diff(Xa(t),t)+1/2*L1*sin(thita(t))*diff(thita(t),t))^2+(diff(Ya(t),t) <BR>+1/2*L1*cos(thita(t))*diff(thita(t),t))^2)+1/2*JC1*thita(t)^2+1/2*m2*((diff(Xa <BR>(t),t)-diff(q(t),t)*cos(thita(t))+(L1+1/2*L2+q(t))*sin(thita(t))*diff(thita(t) <BR>,t))^2+(diff(Ya(t),t)+diff(q(t),t)*sin(thita(t))+(L1+1/2*L2+q(t))*cos(thita(t) <BR>)*diff(thita(t),t))^2)+JC2*thita(t)^2+1/2*M*(diff(Ya(t),t)+diff(q(t),t)*sin(th <BR>ita(t))+(L1+L2+q(t))*cos(thita(t))*diff(thita(t),t))^2 |