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发表于 2008-6-2 14:00 | 显示全部楼层 |阅读模式

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我这个老是出不来结果!
  1. %%%%%%%%%%%%%%%%%%%%%%%%%%基本参数
  2. x1=0;%%%%%%%一杆的初始转角
  3. x2=0;%%%%%%%二杆的初始转角
  4. x3=0;%%%%%%%三杆的初始转角
  5. x4=0;%%%%%%%四杆的初始转角
  6. x5=0;%%%%%%%五杆的初始转角
  7. x6=0;%%%%%%%六杆的初始转角
  8. d1=0.3875;%%%%%%%一杆的长度
  9. d4=0.268;%%%%%%%四杆的长度
  10. d6=0.1655;%%%%%%%六杆的长度
  11. a2=0.230;%%%%%%%二杆的长度
  12. a3=0.107;%%%%%%%三杆的长度
  13. m1=25;%%%%%%%一杆的质量
  14. m2=15.5;%%%%%%%二杆的质量
  15. m3=10.6;%%%%%%%三杆的质量
  16. m4=7.2;%%%%%%%四杆的质量
  17. m5=5.7;%%%%%%%五杆的质量
  18. m6=1.5;%%%%%%%六杆的质量
  19. x1x1=0;x2x2=0;x3x3=0;x4x4=0;x5x5=0;x6x6=0;%%%%%%%%角速度
  20. x1x1x1=0;x2x2x2=0;x3x3x3=0;x4x4x4=0;x5x5x5=0;x6x6x6=0;%%%%%%%角加速度
  21. for n=0:0.1:2
  22. step=0.1;%%%%%%%%%%%%%%%%时间间隔
  23. %%%%%%%%%%%%%%%%%%%%%%%%角度相关参数
  24. c1=cos(x1/(2*pi));
  25. c2=cos(x2/(2*pi));
  26. c3=cos(x3/(2*pi));
  27. c4=cos(x4/(2*pi));
  28. c5=cos(x5/(2*pi));
  29. c6=cos(x6/(2*pi));
  30. s1=sin(x1/(2*pi));
  31. s2=sin(x2/(2*pi));
  32. s3=sin(x3/(2*pi));
  33. s4=sin(x4/(2*pi));
  34. s5=sin(x5/(2*pi));
  35. s6=sin(x6/(2*pi));
  36. %%%%%%%%%%%%%%%%%%%%%%%变换矩阵计算
  37. t1=[c1 0 -s1 0;s1 0 c1 0;0 -1 0 d1;0 0 0 1];
  38. t2=[c2 -s2 0 a2*c2;s2 c2 0 a2*s2;0 0 1 0;0 0 0 1];
  39. t3=[c3 0 -s3 a3*c3;s3 0 c3 a3*s3;0 -1 0 0;0 0 0 1];
  40. t4=[c4 0 s4 0;s4 0 -c4 0;0 1 0 d4;0 0 0 1];
  41. t5=[c5 0 -s5 0;s5 0 c5 0;0 -1 0 0;0 0 0 1];
  42. t6=[c6 -s6 0 0;s6 c6 0 0;0 0 1 d6;0 0 0 1];
  43. t=t1*t2*t3*t4*t5*t6;
  44. Qi=[0 -1 0 0;1 0 0 0;0 0 0 0;0 0 0 0];%%%%%%%%%%%%矩阵
  45. %%%%%%%%%%%%%%%%%%%%%%%%偏导数
  46. U11=1*Qi*t1;
  47. U12=0;
  48. U13=0;
  49. U14=0;
  50. U15=0;
  51. U16=0;
  52. U21=1*Qi*t1*t2;
  53. U22=t1*Qi*t2;
  54. U23=0;
  55. U24=0;
  56. U25=0;
  57. U26=0;
  58. U31=1*Qi*t1*t2*t3;
  59. U32=t1*Qi*t2*t3;
  60. U33=t1*t2*Qi*t3;
  61. U34=0;
  62. U35=0;
  63. U36=0;
  64. U41=1*Qi*t1*t2*t3*t4;
  65. U42=t1*Qi*t2*t3*t4;
  66. U43=t1*t2*Qi*t3*t4;
  67. U44=t1*t2*t3*Qi*t4;
  68. U45=0;
  69. U46=0;
  70. U51=1*Qi*t1*t2*t3*t4*t5;
  71. U52=t1*Qi*t2*t3*t4*t5;
  72. U53=t1*t2*Qi*t3*t4*t5;
  73. U54=t1*t2*t3*Qi*t4*t5;
  74. U55=t1*t2*t3*t4*Qi*t5;
  75. U56=0;
  76. U61=1*Qi*t1*t2*t3*t4*t5*t6;
  77. U62=t1*Qi*t2*t3*t4*t5*t6;
  78. U63=t1*t2*Qi*t3*t4*t5*t6;
  79. U64=t1*t2*t3*Qi*t4*t5*t6;
  80. U65=t1*t2*t3*t4*Qi*t5*t6;
  81. U66=t1*t2*t3*t4*t5*Qi*t6;
  82. %%%%%%%%%%%%%%%%%%%%%%%%%%%伪惯量矩阵
  83. I1=[(-d1^2*m1+d1^2*m1+0)/2 0 0 0;0 (d1^2*m1-d1^2*m1+0)/2 0 0;0 0 (d1^2*m1+d1^2*m1-0)/2 m1*d1;0 0 m1*d1 m1];
  84. I2=[(-((a2*cos(x2))^2+(a2*sin(x2))^2)*m2+(a2*sin(x2))^2*m2+(a2*cos(x2))^2*m2)/2 0 0 0;
  85. 0 (((a2*cos(x2))^2+(a2*sin(x2))^2)*m2-(a2*sin(x2))^2*m2+(a2*cos(x2))^2*m2)/2 -a2*cos(x2)*a2*sin(x2) m2*a2*cos(x2);
  86. 0 -a2*cos(x2)*a2*sin(x2) (((a2*cos(x2))^2+(a2*sin(x2)^2)*m2+(a2*sin(x2))^2*m2-(a2*cos(x2))^2*m2))/2 a2*sin(x2)*m2;
  87. 0 a2*cos(x2)*m2 a2*sin(x2)*m2 m2];
  88. I3=[(-((a3*cos(x3))^2+(a3*sin(x3))^2)*m3+(a3*sin(x3))^2*m3+(a3*cos(x3))^2*m3)/2 0 0 0;
  89. 0 (((a3*cos(x3))^2+(a3*sin(x3))^2)*m3-(a3*sin(x3))^2*m3+(a3*cos(x3))^2*m3)/2 -a3*cos(x3)*a3*sin(x3) m3*a3*cos(x3);
  90. 0 -a3*cos(x3)*a3*sin(x3) (((a3*cos(x3))^2+(a3*sin(x3)^2)*m3+(a3*sin(x3))^2*m3-(a3*cos(x3))^2*m3))/2 a3*sin(x3)*m3;
  91. 0 a3*cos(x3)*m3 a3*sin(x3)*m3 m3];
  92. I4=[(-d4^2*m4+0+d4^2*m4)/2 0 0 0;0 (d4^2*m4-0+d4^2*m4)/2 0 m4*d4;0 0 (d4^2*m4+0-d4^2*m4)/2 0;0 m4*d4 0 m4];
  93. I5=[0 0 0 0;0 0 0 0;0 0 0 0;0 0 0 m5];
  94. I6=[(-d6^2*m6+d6^2*m6+0)/2 0 0 0;0 (d6^2*m6-d6^2*m6+0)/2 0 0;0 0 (d6^2*m6+d6^2*m6-0)/2 m6*d6;0 0 m6*d6 m6];
  95. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%加速度相关的对称矩阵
  96. D11=trace(U11*I1*U11')+trace(U21*I2*U21')+trace(U31*I3*U31')+trace(U41*I4*U41')+trace(U51*I5*U51')+trace(U61*I6*U61');
  97. D12=trace(U22*I2*U21')+trace(U32*I3*U31')+trace(U42*I4*U41')+trace(U52*I5*U51')+trace(U62*I6*U61');
  98. D13=trace(U33*I3*U31')+trace(U43*I4*U41')+trace(U53*I5*U53')+trace(U63*I6*U63');
  99. D14=trace(U44*I4*U41')+trace(U54*I5*U51')+trace(U64*I6*U61');
  100. D15=trace(U55*I5*U51')+trace(U65*I6*U61');
  101. D16=trace(U66*I6*U61');
  102. D22=trace(U22*I2*U22')+trace(U32*I3*U32')+trace(U42*I4*U42')+trace(U52*I5*U52')+trace(U62*I6*U62');
  103. D23=trace(U33*I3*U32')+trace(U43*I4*U42')+trace(U53*I5*U52')+trace(U63*I6*U62');
  104. D24=trace(U44*I4*U42')+trace(U54*I5*U52')+trace(U64*I6*U62');
  105. D25=trace(U55*I5*U52')+trace(U65*I6*U62');
  106. D26=trace(U66*I6*U62');
  107. D33=trace(U33*I3*U33')+trace(U43*I4*U43')+trace(U53*I5*U53')+trace(U63*I6*U63');
  108. D34=trace(U44*I4*U43')+trace(U54*I5*U53')+trace(U64*I6*U63');
  109. D35=trace(U55*I5*U53')+trace(U65*I6*U63');
  110. D36=trace(U66*I6*U63');
  111. D44=trace(U44*I4*U44')+trace(U54*I5*U54')+trace(U64*I6*U64');
  112. D45=trace(U55*I5*U54')+trace(U65*I6*U64');
  113. D46=trace(U66*I6*U64');
  114. D55=trace(U55*I5*U55')+trace(U65*I6*U65');
  115. D56=trace(U66*I6*U65');
  116. D66=trace(U66*I6*U66');
  117. D=[D11 D12 D13 D14 D15 D16;D12 D22 D23 D24 D25 D26;D13 D23 D33 D34 D35 D36;
  118. D14 D24 D34 D44 D45 D46;D24 34 35 D45 D55 D56;D14 D24 D34 D46 D56 D66];
  119. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%科氏力和向心力项
  120. h111=trace((U11*I1*U11)')+trace((U11*I2*U12)')+trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
  121. h112=trace((U11*I2*U12)')+trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
  122. h113=trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
  123. h114=trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
  124. h115=trace((U11*I5*U15)')+trace((U11*I6*U16)');
  125. h116=trace((U11*I6*U16)');
  126. h121=trace((U12*I2*U12)')+trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
  127. h122=trace((U12*I2*U12)')+trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
  128. h123=trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
  129. h124=trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
  130. h125=trace((U12*I5*U15)')+trace((U12*I6*U16)');
  131. h126=trace((U12*I6*U16)');
  132. h131=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
  133. h132=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
  134. h133=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
  135. h134=trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
  136. h135=trace((U13*I5*U15)')+trace((U13*I6*U16)');
  137. h136=trace((U13*I6*U16)');
  138. h141=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
  139. h142=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
  140. h143=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
  141. h144=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
  142. h145=trace((U14*I5*U15)')+trace((U14*I6*U16)');
  143. h146=trace((U14*I6*U16)');
  144. h151=trace((U15*I5*U15)')+trace((U15*I6*U16)');
  145. h152=trace((U15*I5*U15)')+trace((U15*I6*U16)');
  146. h153=trace((U15*I5*U15)')+trace((U15*I6*U16)');
  147. h154=trace((U15*I5*U15)')+trace((U15*I6*U16)');
  148. h155=trace((U15*I5*U15)')+trace((U15*I6*U16)');
  149. h156=trace((U15*I6*U16)');
  150. h161=trace((U16*I6*U16)');
  151. h162=trace((U16*I6*U16)');
  152. h163=trace((U16*I6*U16)');
  153. h164=trace((U16*I6*U16)');
  154. h165=trace((U16*I6*U16)');
  155. h166=trace((U16*I6*U16)');
  156. %%%%%%%%%%%%%%%%%%%%%%
  157. h211=trace((U21*I2*U22)')+trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
  158. h212=trace((U21*I2*U22)')+trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
  159. h213=trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
  160. h214=trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
  161. h215=trace((U21*I5*U25)')+trace((U21*I6*U26)');
  162. h216=trace((U21*I6*U26)');
  163. h221=trace((U22*I2*U22)')+trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
  164. h222=trace((U22*I2*U22)')+trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U15)')+trace((U22*I6*U26)');
  165. h223=trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
  166. h224=trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
  167. h225=trace((U22*I5*U25)')+trace((U22*I6*U26)');
  168. h226=trace((U22*I6*U26)');
  169. h231=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
  170. h232=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
  171. h233=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
  172. h234=trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
  173. h235=trace((U23*I5*U25)')+trace((U23*I6*U26)');
  174. h236=trace((U23*I6*U26)');
  175. h241=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
  176. h242=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
  177. h243=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
  178. h244=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
  179. h245=trace((U24*I5*U25)')+trace((U24*I6*U26)');
  180. h246=trace((U24*I6*U26)');
  181. h251=trace((U25*I5*U25)')+trace((U25*I6*U26)');
  182. h252=trace((U25*I5*U25)')+trace((U25*I6*U26)');
  183. h253=trace((U25*I5*U25)')+trace((U25*I6*U26)');
  184. h254=trace((U25*I5*U25)')+trace((U25*I6*U26)');
  185. h255=trace((U25*I5*U25)')+trace((U25*I6*U26)');
  186. h256=trace((U25*I6*U26)');
  187. h261=trace((U26*I6*U26)');
  188. h262=trace((U26*I6*U26)');
  189. h263=trace((U26*I6*U26)');
  190. h264=trace((U26*I6*U26)');
  191. h265=trace((U26*I6*U26)');
  192. h266=trace((U26*I6*U26)');
  193. %%%%%%%%%%%%%%%%%%%%%%%%
  194. h311=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
  195. h312=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
  196. h313=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
  197. h314=trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
  198. h315=trace((U31*I5*U35)')+trace((U31*I6*U36)');
  199. h316=trace((U31*I6*U36)');
  200. h321=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
  201. h322=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
  202. h323=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
  203. h324=trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
  204. h325=trace((U32*I5*U35)')+trace((U32*I6*U36)');
  205. h326=trace((U32*I6*U36)');
  206. h331=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
  207. h332=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
  208. h333=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
  209. h334=trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
  210. h335=trace((U33*I5*U35)')+trace((U33*I6*U36)');
  211. h336=trace((U33*I6*U36)');
  212. h341=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
  213. h342=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
  214. h343=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
  215. h344=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
  216. h345=trace((U34*I5*U35)')+trace((U34*I6*U36)');
  217. h346=trace((U34*I6*U36)');
  218. h351=trace((U35*I5*U35)')+trace((U35*I6*U36)');
  219. h352=trace((U35*I5*U35)')+trace((U35*I6*U36)');
  220. h353=trace((U35*I5*U35)')+trace((U35*I6*U36)');
  221. h354=trace((U35*I5*U35)')+trace((U35*I6*U36)');
  222. h355=trace((U35*I5*U35)')+trace((U35*I6*U36)');
  223. h356=trace((U35*I6*U36)');
  224. h361=trace((U36*I6*U36)');
  225. h362=trace((U36*I6*U36)');
  226. h363=trace((U36*I6*U36)');
  227. h364=trace((U36*I6*U36)');
  228. h365=trace((U36*I6*U36)');
  229. h366=trace((U36*I6*U36)');
  230. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  231. h411=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
  232. h412=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
  233. h413=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
  234. h414=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
  235. h415=trace((U41*I5*U45)')+trace((U41*I6*U46)');
  236. h416=trace((U41*I6*U46)');
  237. h421=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
  238. h422=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
  239. h423=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
  240. h424=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
  241. h425=trace((U42*I5*U45)')+trace((U42*I6*U46)');
  242. h426=trace((U42*I6*U46)');
  243. h431=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
  244. h432=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
  245. h433=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
  246. h434=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
  247. h435=trace((U43*I5*U45)')+trace((U43*I6*U46)');
  248. h436=trace((U43*I6*U46)');
  249. h441=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
  250. h442=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
  251. h443=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
  252. h444=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
  253. h445=trace((U44*I5*U45)')+trace((U44*I6*U46)');
  254. h446=trace((U44*I6*U46)');
  255. h451=trace((U45*I5*U45)')+trace((U45*I6*U46)');
  256. h452=trace((U45*I5*U45)')+trace((U45*I6*U46)');
  257. h453=trace((U45*I5*U45)')+trace((U45*I6*U46)');
  258. h454=trace((U45*I5*U45)')+trace((U45*I6*U46)');
  259. h455=trace((U45*I5*U45)')+trace((U45*I6*U46)');
  260. h456=trace((U45*I6*U46)');
  261. h461=trace((U46*I6*U46)');
  262. h462=trace((U46*I6*U46)');
  263. h463=trace((U46*I6*U46)');
  264. h464=trace((U46*I6*U46)');
  265. h465=trace((U46*I6*U46)');
  266. h466=trace((U46*I6*U46)');
  267. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  268. h511=trace((U51*I5*U55)')+trace((U51*I6*U56)');
  269. h512=trace((U51*I5*U55)')+trace((U51*I6*U56)');
  270. h513=trace((U51*I5*U55)')+trace((U51*I6*U56)');
  271. h514=trace((U51*I5*U55)')+trace((U51*I6*U56)');
  272. h515=trace((U51*I5*U55)')+trace((U51*I6*U56)');
  273. h516=trace((U51*I6*U56)');
  274. h521=trace((U52*I5*U55)')+trace((U52*I6*U56)');
  275. h522=trace((U52*I5*U55)')+trace((U52*I6*U56)');
  276. h523=trace((U52*I5*U55)')+trace((U52*I6*U56)');
  277. h524=trace((U52*I5*U55)')+trace((U52*I6*U56)');
  278. h525=trace((U52*I5*U55)')+trace((U52*I6*U56)');
  279. h526=trace((U52*I6*U56)');
  280. h531=trace((U53*I5*U55)')+trace((U53*I6*U56)');
  281. h532=trace((U53*I5*U55)')+trace((U53*I6*U56)');
  282. h533=trace((U53*I5*U55)')+trace((U53*I6*U56)');
  283. h534=trace((U53*I5*U55)')+trace((U53*I6*U56)');
  284. h535=trace((U53*I5*U55)')+trace((U53*I6*U56)');
  285. h536=trace((U53*I6*U56)');
  286. h541=trace((U54*I5*U55)')+trace((U54*I6*U56)');
  287. h542=trace((U54*I5*U55)')+trace((U54*I6*U56)');
  288. h543=trace((U54*I5*U55)')+trace((U54*I6*U56)');
  289. h544=trace((U54*I5*U55)')+trace((U54*I6*U56)');
  290. h545=trace((U54*I5*U55)')+trace((U54*I6*U56)');
  291. h546=trace((U54*I6*U56)');
  292. h551=trace((U55*I5*U55)')+trace((U55*I6*U56)');
  293. h552=trace((U55*I5*U55)')+trace((U55*I6*U56)');
  294. h553=trace((U55*I5*U55)')+trace((U55*I6*U56)');
  295. h554=trace((U55*I5*U55)')+trace((U55*I6*U56)');
  296. h555=trace((U55*I5*U55)')+trace((U55*I6*U56)');
  297. h556=trace((U55*I6*U56)');
  298. h561=trace((U56*I6*U56)');
  299. h562=trace((U56*I6*U56)');
  300. h563=trace((U56*I6*U56)');
  301. h564=trace((U56*I6*U46)');
  302. h565=trace((U56*I6*U56)');
  303. h566=trace((U56*I6*U56)');
  304. %%%%%%%%%%%%%%%%%%%%%%%%%%
  305. h611=trace((U61*I6*U66)');
  306. h612=trace((U61*I6*U66)');
  307. h613=trace((U61*I6*U66)');
  308. h614=trace((U61*I6*U66)');
  309. h615=trace((U61*I6*U66)');
  310. h616=trace((U61*I6*U66)');
  311. h621=trace((U62*I6*U66)');
  312. h622=trace((U62*I6*U66)');
  313. h623=trace((U62*I6*U66)');
  314. h624=trace((U62*I6*U66)');
  315. h625=trace((U62*I6*U66)');
  316. h626=trace((U62*I6*U66)');
  317. h631=trace((U63*I6*U66)');
  318. h632=trace((U63*I6*U66)');
  319. h633=trace((U63*I6*U66)');
  320. h634=trace((U63*I6*U66)');
  321. h635=trace((U63*I6*U66)');
  322. h636=trace((U63*I6*U66)');
  323. h641=trace((U64*I6*U66)');
  324. h642=trace((U64*I6*U66)');
  325. h643=trace((U64*I6*U66)');
  326. h644=trace((U64*I6*U66)');
  327. h645=trace((U64*I6*U66)');
  328. h646=trace((U64*I6*U66)');
  329. h651=trace((U65*I6*U66)');
  330. h652=trace((U65*I6*U66)');
  331. h653=trace((U65*I6*U66)');
  332. h654=trace((U65*I6*U66)');
  333. h655=trace((U65*I6*U66)');
  334. h656=trace((U65*I6*U66)');
  335. h661=trace((U66*I6*U66)');
  336. h662=trace((U66*I6*U66)');
  337. h663=trace((U66*I6*U66)');
  338. h664=trace((U66*I6*U66)');
  339. h665=trace((U66*I6*U66)');
  340. h666=trace((U66*I6*U66)');
  341. h1=[h111 h112 h113 h114 h115 h116;h112 h122 h123 h124 h125 h126;h113 h123 h133 h134 h135 h136;
  342. h114 h124 h134 h144 h145 h146;h115 h125 h135 h145 h155 h156;h116 h126 h136 h146 h156 h166];
  343. h2=[h211 h212 h213 h214 h215 h216;h212 h222 h223 h224 h225 h226;h213 h223 h233 h234 h235 h236;
  344. h214 h224 h234 h244 h245 h246;h215 h225 h235 h245 h255 h256;h216 h226 h236 h246 h256 h266];
  345. h3=[h311 h312 h313 h314 h315 h316;h312 h322 h323 h324 h325 h326;h313 h323 h333 h334 h335 h336;
  346. h314 h324 h334 h344 h345 h346;h315 h325 h335 h345 h355 h356;h316 h326 h336 h346 h356 h366];
  347. h4=[h411 h412 h413 h414 h415 h416;h412 h422 h423 h424 h425 h426;h413 h423 h433 h434 h435 h436;
  348. h414 h424 h434 h444 h445 h446;h415 h425 h435 h445 h455 h456;h416 h426 h436 h446 h456 h466];
  349. h5=[h511 h512 h513 h514 h515 h516;h512 h522 h523 h524 h525 h526;h513 h523 h533 h534 h535 h536;
  350. h514 h524 h534 h544 h545 h546;h515 h525 h535 h545 h555 h556;h516 h526 h536 h546 h556 h566];
  351. h6=[h611 h612 h613 h614 h615 h616;h612 h622 h623 h624 h625 h626;h613 h623 h633 h634 h635 h636;
  352. h614 h624 h634 h644 h645 h646;h615 h625 h635 h645 h655 h656;h616 h626 h636 h646 h656 h666];
  353. %;H=[h1;h2;h3;h4;h5;h6]
  354. H=[h1*(x1)*(x1)';h2*(x2)*(x2x2)';h3*(x3x3)*(x3x3)';h4*(x4x4)*(x4x4)';h5*(x5x5)*(x5x5)';h6*(x6x6)*(x6x6)']
  355. %%%%%%%%%%%%%%%%%%%%重力项
  356. g=[0 -9.8 0 0];
  357. r1=[0;0;387.5;1];
  358. r2=[0;0;230;1];
  359. r3=[107;0;0;1];
  360. r4=[0;268;0;1];
  361. r5=[0;0;0;1];
  362. r6=[0;0;165.5;1];
  363. R=[r1;r2;r3;r4;r5;r6];
  364. c1=-(m1*g*U11*r1+m2*g*U21*r2+m3*g*U31*r3+m4*g*U41*r4+m5*g*U51*r5+m6*g*U61*r6);
  365. c2=-(m2*g*U22*r2+m3*g*U32*r3+m4*g*U42*r4+m5*g*U52*r5+m6*g*U62*r6);
  366. c3=-(m3*g*U33*r3+m4*g*U43*r4+m5*g*U53*r5+m6*g*U63*r6);
  367. c4=-(m4*g*U44*r4+m5*g*U54*r5+m6*g*U64*r6);
  368. c5=-(m5*g*U55*r5+m6*g*U66*r6);
  369. c6=-m6*g*U66*r6;
  370. C=[c1 c2 c3 c4 c5 c6]';
  371. %%%%%%%%%%%%%%%%%%%%以下是输入转矩函数T的分量(各电机的转矩)
  372. T1=2.84*sin(n/6+pi/2)
  373. T2=2.39*sin(n/6+pi/2)
  374. T3=1.35*sin(n/6+pi/2)
  375. T4=0.72*sin(n/6+pi/2)
  376. T5=0.317*sin(n/6+pi/2)
  377. T6=0.317*sin(n/6+pi/2)
  378. %%%%%%%%%%%%%%%%%%%%%%%%以下是电机的转矩函数T
  379. T=[T1;T2;T3;T4;T5;6];
  380. %%%%%%%%%Y表示变量
  381. W=[x1,x2,x3,x4,x5,x6]';%%%初始参数
  382. WW=[x1x1,x2x2,x3x3,x4x4,x5x5,x6x6]';%%%一阶导
  383. WWW=[x1x1x1,x2x2x2,x3x3x3,x4x4x4,x5x5x5,x6x6x6]';%%%上一时间的二阶导
  384. Q2=inv(D)*(T-h3*WW-C.*W)

  385. W1=inv(h3+(1/(step*step))*D)*(T-C+D*((1/(step*step))*W+1/step.*WW-(1/2)*WWW));
  386. WWW1=1/(step*step)*(W1-W)-1/step.*WW+(1/2)*WWW;
  387. WW1=WW+step.*WWW1;
  388. x1=W1(1,1);x2=W1(2,1);x3=W1(3,1);x4=W1(4,1);x5=W1(5,1);x6=W1(6,1);
  389. x1x1=WW1(1,1);x2x2=WW1(2,1);x3x3=WW1(3,1);x4x4=WW1(4,1);x5x5=WW1(5,1);x6x6=WW1(6,1);
  390. x1x1x1=WWW1(1,1);x2x2x2=WWW1(2,1);x3x3x3=WWW1(3,1);x4x4x4=WWW1(4,1);x5x5x5=WWW(5,1);x6x6x6=WWW1(6,1);
  391. hold on
  392. %%%%%%%%%%%%以下作出电机的输入图
  393. plot(n,Q2)

  394. end
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[ 本帖最后由 sigma665 于 2008-6-2 21:06 编辑 ]

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MATLAB程序,帮忙看看

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 楼主| 发表于 2008-6-2 14:01 | 显示全部楼层
麻烦帮忙找错,我是MATLAB菜鸟啊!
 楼主| 发表于 2008-6-2 16:27 | 显示全部楼层
为什么所有数结果都变成了NaN
发表于 2008-6-2 18:00 | 显示全部楼层

回复 3楼 的帖子

请注意你的求助技巧
一句话,一个附件
别人都懒得去下载你的附件
而你又只有一句话

求助的时候要考虑尽量的方便别人
 楼主| 发表于 2008-6-2 20:25 | 显示全部楼层
谢谢提醒,请问能否帮忙看看?
这是一个关于六连杆机器人的动力学仿真的
发表于 2008-6-3 15:24 | 显示全部楼层
你这程序做的也太。。。。。我想没人乐意看,头大啊,明明可以简化,写这么多,晕啊:@o
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