飞剪机构运动仿真升级版

升级版飞剪机构仿真

// FlyshearDlg.cpp: 实现文件
//

#include "pch.h"
#include "framework.h"
#include "Flyshear.h"
#include "FlyshearDlg.h"
#include "afxdialogex.h"
#include "math.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#endif


// 用于应用程序“关于”菜单项的 CAboutDlg 对话框

class CAboutDlg : public CDialogEx
{
public:
	CAboutDlg();

// 对话框数据
#ifdef AFX_DESIGN_TIME
	enum { IDD = IDD_ABOUTBOX };
#endif

	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV 支持

// 实现
protected:
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialogEx(IDD_ABOUTBOX)
{
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)
END_MESSAGE_MAP()


// CFlyshearDlg 对话框



CFlyshearDlg::CFlyshearDlg(CWnd* pParent /*=nullptr*/)
	: CDialogEx(IDD_FLYSHEAR_DIALOG, pParent)
	, m_k(0)
	, m_gamma2(0)
	, m_psi(0)
	, m_alpha4(0)
{
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
	pi = 0.0;
	fai1 = 0.0;
	xA = 0.0;
	yA = 0.0;
	xD = 0.0;
	yD = 0.0;
	xAD = 0.0;
	yAD = 0.0;
	Jdbc = 0.0;
	Jdbx = 0.0;
	Jbdy = 0.0;
	Jbdc = 0.0;
	J2 = 0.0;
	xE0[0] = 44.95301;
	yE0[0] = 93.9331;
	xF0[0] = 53.70745;
	yF0[0] = 94.64961;
	n = 0;
}

void CFlyshearDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
	DDX_Text(pDX, IDC_K, m_k);
	DDV_MinMaxDouble(pDX, m_k, 1.0, 2.0);
	DDX_Text(pDX, IDC_GAMMA2, m_gamma2);
	DDV_MinMaxDouble(pDX, m_gamma2, 0.0, 3.1415926);
	DDX_Text(pDX, IDC_PSI, m_psi);
	DDV_MinMaxDouble(pDX, m_psi, 0.0, 3.1415926);
	DDX_Text(pDX, IDC_ALPHA4, m_alpha4);
	DDV_MinMaxDouble(pDX, m_alpha4, 0.0, 3.1415926);
}

BEGIN_MESSAGE_MAP(CFlyshearDlg, CDialogEx)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_START, &CFlyshearDlg::OnStart)
	ON_BN_CLICKED(IDC_STOP, &CFlyshearDlg::OnStop)
	ON_WM_TIMER()
END_MESSAGE_MAP()


// CFlyshearDlg 消息处理程序

BOOL CFlyshearDlg::OnInitDialog()
{
	CDialogEx::OnInitDialog();

	// 将“关于...”菜单项添加到系统菜单中。

	// IDM_ABOUTBOX 必须在系统命令范围内。
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != nullptr)
	{
		BOOL bNameValid;
		CString strAboutMenu;
		bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);
		ASSERT(bNameValid);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// 设置此对话框的图标。  当应用程序主窗口不是对话框时，框架将自动
	//  执行此操作
	SetIcon(m_hIcon, TRUE);			// 设置大图标
	SetIcon(m_hIcon, FALSE);		// 设置小图标

	// TODO: 在此添加额外的初始化代码
	m_alpha4 = 0.453785598;
	m_gamma2 = 1.25663704;
	m_k = 1.16;
	m_psi = 0.31415926;
	fai1 = 0;
	xA = 0;
	yA = 0;
	xE0[1] = 44.95301;
	yE0[1] = 93.9331;
	xF0[1] = 53.70745;
	yF0[1] = 94.64961;
	n = 0;
	UpdateData(FALSE);
	return TRUE;  // 除非将焦点设置到控件，否则返回 TRUE
}

void CFlyshearDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialogEx::OnSysCommand(nID, lParam);
	}
}

// 如果向对话框添加最小化按钮，则需要下面的代码
//  来绘制该图标。  对于使用文档/视图模型的 MFC 应用程序，
//  这将由框架自动完成。

void CFlyshearDlg::OnPaint()
{
	if (IsIconic())
	{
		CPaintDC dc(this); // 用于绘制的设备上下文

		SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);

		// 使图标在工作区矩形中居中
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// 绘制图标
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialogEx::OnPaint();
	}
}

//当用户拖动最小化窗口时系统调用此函数取得光标
//显示。
HCURSOR CFlyshearDlg::OnQueryDragIcon()
{
	return static_cast<HCURSOR>(m_hIcon);
}

void CFlyshearDlg::DrawFlyShear()
{
	UpdateData(TRUE);
	//获取对话框的图片控件的位置大小，并准备在其中绘图
	CRect m_rect;
	GetDlgItem(IDC_DISPLAY)->GetWindowRect(&m_rect);
	ScreenToClient(&m_rect);
	//获得绘图设备对象，并设置绘图区域大小，范围及原点
	CClientDC dc(this);
	dc.SetMapMode(MM_ISOTROPIC);
	dc.SetWindowExt(CSize(500, 500));
	dc.SetViewportExt(m_rect.right, m_rect.bottom);
	dc.SetViewportOrg(m_rect.right / 2+250, m_rect.bottom / 2 - 60);
	//当参数改变时重绘窗口    
	RedrawWindow(&m_rect);

	// TODO: 在此处添加实现代码.
	pi = 3.1415926;
	double theta, theta0, gamma1, A, B, N, a0, b0, c0;
	theta = pi * (m_k - 1) / (m_k + 1);
	gamma1 = m_psi + m_gamma2 - theta;
	theta0 = atan((sin(m_gamma2) * sin(theta)) / (sin(gamma1) - sin(m_gamma2) * cos(theta)));
	A = cos(theta + theta0) * sin(m_gamma2 + theta0);
	B = sin(m_gamma2) + sin(theta0) * cos(gamma1 + theta + theta0);
	N = 2 * sin(m_gamma2) * cos(theta + theta0);
	a0 = (A - B) / N;
	b0 = (A + B) / N;
	c0 = sin(theta0) / sin(m_gamma2);

	int L = 1, t;
	double Vt = 2, delta = 1.02, k1 = 1.1, n1, omega1, a, b, c, d, mu_L;
	t = L / Vt;
	n1 = 60 * Vt / L;
	omega1 = 2 * pi * Vt / L;
	a = k1 * delta * L / (2 * pi);
	mu_L = a / a0;
	b = mu_L * b0;
	c = mu_L * c0;
	d = mu_L;

	int h = 250, deta_h = 5, deta_b = 1;
	double f, e, deta_alpha, alpha3, Lce, Lcf, alpha2, Lcef, alpha2_x, alpha3_x;
	f = 1000 * d * cos(m_alpha4) - h;//乘1000是为了单位转换  
	e = sqrt(pow((f - deta_h),2) + pow(((d*1000) - (a*1000)),2) - 2 * (f - deta_h) * ((d*1000) - (a*1000)) * cos(m_alpha4));
	deta_alpha = acos((pow(c,2) + pow((d - a),2) - pow(b,2)) / (2 * c * (d - a)));
	alpha3 = deta_alpha + m_alpha4;
	Lce = sqrt(pow((c*1000),2) + pow((f - deta_h),2) - 2 * (c*1000) * (f - deta_h) * cos(alpha3));
	Lcf = sqrt(pow((c*1000),2) + pow(f,2) - 2 * (c*1000) * (f)*cos(alpha3));
	Lcef = (Lce + Lcf) / 2;
	alpha2_x = acos((pow((b*1000),2) + pow(e,2) - pow(Lcef,2)) / (2 * (b*1000) * e));
	alpha3_x = acos((pow((c*1000),2) + pow(f,2) - pow(Lcef,2)) / (2 * (c*1000) * f));

	double Jbec, Jdec, Jbed, Jdab, Lbd, fai10;
	Jbec = acos((pow(e,2) + pow(Lcef,2) - pow((b*1000),2)) / (2 * e * Lcef));
	Jdec = acos((pow(f,2) + pow(Lcef,2) - pow((c*1000),2)) / (2 * f * Lcef));
	Jbed = Jbec + Jdec;
	Lbd = sqrt(pow(e,2) + pow(f,2) - 2 * e * f * cos(Jbed));
	Jdab = acos((pow((a*1000),2) + pow((d*1000),2) - pow(Lbd,2)) / (2 * (a*1000) * (d*1000)));
	fai10 = m_alpha4 - Jdab;

	double faii, fai3, fai2, faiE, deta_faiE, alpha4_x, fai10_x, fai2_x, fai3_x;
	faii = atan((d * sin(m_alpha4) - a * sin(fai10)) / (d * cos(m_alpha4) - a * cos(fai10)));
	fai3 = faii + (2*pi - acos((pow((b*1000),2) - pow(Lbd,2) - pow((c*1000),2)) / (2 * Lbd * (c*1000))));
	fai2 = atan((Lbd * sin(faii) + (c*1000) * sin(fai3)) / (Lbd * cos(faii) + (c*1000) * cos(fai3)));
	faiE = atan((e * sin(fai2 + alpha2_x) - (b*1000) * sin(fai2)) / (e * cos(fai2 + alpha2_x) - (b*1000) * cos(fai2)));
	deta_faiE = faiE - pi/2;
	alpha4_x = m_alpha4 - deta_faiE;
	fai10_x = fai10 - deta_faiE;
	fai2_x = fai2 - deta_faiE;
	fai3_x = fai3 - deta_faiE;

	double omega2, omega3, VEt, VFt, Vdao, detlai, k1_x, a_x, mu_x, b_x, c_x, d_x, e_x, f_x;
	omega2 = (-(a*1000) * omega1 * sin(fai10_x - fai3_x)) / ((b*1000) * sin(fai2_x - fai3_x));
	omega3 = ((a*1000) * omega1 * sin(fai10_x - fai2_x)) / ((c*1000) * sin(fai3_x - fai2_x));
	VEt = (a*1000) * omega1 * cos(fai10_x) + e * omega2 * cos(fai2_x + alpha2_x);
	VFt = f * omega3 * cos(fai3_x - alpha3_x);
	Vdao = (VEt + VFt) / 2;
	detlai = Vdao / Vt;
	k1_x = (a*1000) * omega1 / Vdao;
	a_x = (k1_x * delta * Vt / omega1) * 1000;
	mu_x = a_x / (a * 1000);
	b_x = 1000 * (mu_x * b);
	c_x = 1000 * (mu_x * c);
	d_x = 1000 * (mu_x * d);
	f_x = mu_x * f;
	e_x = mu_x * e;

	double xE, yE, xF, yF, xB, yB, xC, yC, xBD, yBD, LBD;
	xD = (d_x * cos(alpha4_x)) / 5;
	yD = (d_x * sin(alpha4_x)) / 5;
	xAD = d_x * cos(alpha4_x);
	yAD = d_x * sin(alpha4_x);
	xB = (a_x * cos(fai1)) / 5;
	yB = (a_x * sin(fai1)) / 5;

	xBD = xAD - a_x * cos(fai1);
	yBD = yAD - a_x * sin(fai1);
	Jdbx = atan(yBD / xBD);
	LBD = yBD / sin(Jdbx);
	Jdbc = acos(((LBD * LBD) + (b_x * b_x) - (c_x * c_x)) / (2 * LBD * b_x));
	Jbdc = acos(((LBD * LBD) + (c_x * c_x) - (b_x * b_x)) / (2 * LBD * c_x));
	Jbdy = atan(xBD / yBD);
	J2 = 2 * pi - (Jdbc - Jdbx);

	xC = xB + (b_x * cos(J2)) / 5;
	yC = yB + (b_x * sin(J2)) / 5;

	xE = xB + (e_x * cos(alpha2_x - Jdbc + Jdbx)) / 5;
	yE = yB + (e_x * sin(alpha2_x - Jdbc + Jdbx)) / 5;

	xF = xD + (f_x * cos(pi * 1.5 - alpha3_x - Jbdy + Jbdc)) / 5;
	yF = yD + (f_x * sin(pi * 1.5 - alpha3_x - Jbdy + Jbdc)) / 5;
	
	//设定画图需要的参数       
	CPen NewPen1;//声明画笔对象
	CPen* pOldPen; //保存原先画笔的指针
	//初始化实线、5像素宽的红色画笔
	NewPen1.CreatePen(PS_SOLID, 5, RGB(255, 0, 0));
	//将画笔选入设备对象
	pOldPen = dc.SelectObject(&NewPen1);

	//A点转动副
	dc.Ellipse(yA - 10, xA - 10, yA + 10, xA + 10);
	//画AB杆
	dc.MoveTo(yA, xA);
	dc.LineTo(yB, xB);
	//画BC杆
	dc.MoveTo(yB, xB);
	dc.LineTo(yC, xC);
	//画转动副B
	dc.Ellipse(yB - 10, xB - 10, yB + 10, xB + 10);
	//画转动副C
	dc.Ellipse(yC - 10, xC - 10, yC + 10, xC + 10);
	//画转动副D
	dc.Ellipse(yD - 10, xD - 10, yD + 10, xD + 10);
	//画CD杆
	dc.MoveTo(yD, xD);
	dc.LineTo(yC, xC);
	
	//画机架
	CPoint pD[3] = { CPoint(yD,xD), CPoint(yD + 20,xD + 34.641016), CPoint(yD - 20,xD + 34.641016) };
	dc.Polygon(pD, 3);
	CPoint pA[3] = { CPoint(yA,xA), CPoint(yA - 20,xA - 34.641016), CPoint(yA + 20,xA - 34.641016) };
	dc.Polygon(pA, 3);

	//画DF杆
	dc.MoveTo(yD, xD);
	dc.LineTo(yF, xF);
	//画BE杆
	dc.MoveTo(yB, xB);
	dc.LineTo(yE, xE);

	dc.SelectObject(pOldPen); //恢复系统原来的画笔对象。

	//设定画图需要的参数       
	CPen NewPen2;//声明画笔对象
	CPen* pOldPen1; //保存原先画笔的指针
	//初始化实线、5像素宽的红色画笔
	NewPen2.CreatePen(PS_SOLID, 5, RGB(0, 0, 255));
	//将画笔选入设备对象
	pOldPen1 = dc.SelectObject(&NewPen2);

	if (n != 0)
	{
		xE0[n] = xE;
		yE0[n] = yE;
		xF0[n] = xF;
		yF0[n] = yF;

		if (n > 63)
		{
			n = n - 63;
		}

		for (int i = n; i > 0; i--)
		{
			//E点的轨迹
			dc.MoveTo(yE0[i], xE0[i]);
			dc.LineTo(yE0[i - 1], xE0[i - 1]);
			//F点的轨迹
			dc.MoveTo(yF0[i], xF0[i]);
			dc.LineTo(yF0[i - 1], xF0[i - 1]);
		}

	}
	n++;
	dc.SelectObject(pOldPen1); //恢复系统原来的画笔对象。

}

void CFlyshearDlg::OnStart()
{
	// TODO: 在此添加控件通知处理程序代码
	SetTimer(1, 100, NULL); //设置定时器
}

void CFlyshearDlg::OnStop()
{
	// TODO: 在此添加控件通知处理程序代码
	KillTimer(1);   //删除定时器
}

void CFlyshearDlg::OnTimer(UINT_PTR nIDEvent)
{
	// TODO: 在此添加消息处理程序代码和/或调用默认值
	if (fai1 > 2 * pi)
	{
		fai1 = fai1 - 2 * pi; //当转动角度大于360度时，重新从0度开始旋转。
	}
	fai1 = fai1 + 0.1;
	DrawFlyShear();  //调用飞剪机构绘图函数
	CDialog::OnTimer(nIDEvent);
	CDialogEx::OnTimer(nIDEvent);
}

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