为了大家快速看到问题我把他的word中的程序直接发上来
function OUT = L_2(t,X)
%%%%%%%%%%%%%%%%%% X中前四个元素对应于两自由度非线性悬架系统中的4个状态变量,X是一个具有16个元素的向量
x1 = X(1); x2 = X(2); x3 = X(3); x4 = X(4);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 基本参数
ms=337;mt=50;k0=-2316.4;k1=12394;k2=-73696;k3=3170400;c1=1228;c2=1210;k4=98000;k5=1850000;B10=k0/ms;
B11=k1/ms;B12=k2/ms;B13=k3/ms;C11=c1/ms;
C12=c2/ms;B20=k0/mt;B21=k1/mt;B22=k2/mt;B23=k3/mt;B24=k4/mt;B25=k5/mt;C21=c1/mt;C22=c2/mt;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
A=0.02;
omiga=6;
zr=A*sin(omiga*t) %%%% 激励
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
dx1 = x2;
dx2 = -B10-B11*(x1-x3)-B12*(x1-x3).^2-B13*(x1-x3).^3-C11*(x2-x4)-C12*(x2-x4).^2;
dx3 = x4;
dx4 = B20+B21*(x1-x3)+B22*(x1-x3).^2+B23*(x1-x3).^3+C21*(x2-x4)+C22*(x2-x4).^2+B24*(x3-zr)+B25*(x3-zr).^2;
Q = [X(5), X(9), X(13), X(17);
X(6), X(10), X(14), X(18);
X(7), X(11), X(15), X(19);
X(8), X(12), X(16), X(20)];
J = [ 0 1 0 0;
-B11-2*B12*(x1-x3)-3*B13*(x1-x3).^2 -C11-2*C12*(x2-x4) B11+2*B12*(x1-x3)+3*B13*(x1-x3).^2 C11+2*C12*(x2-x4);
0 0 0 1;
B21+2*B22*(x1-x3)+3*B23*(x1-x3).^2 C21+2*C22*(x2-x4) -B21-2*B22*(x1-x3)-3*B23*(x1-x3).^2+B24+2*B25*(x3-zr) -C21-2*C22*(x2-x4)];
F = J*Q;
OUT = [dx1; dx2; dx3; dx4; F(:)]; |