Matlab源码
clc;clear all;close all;
syms a1 r11 r12 da1 dr11 dr12 dda1 ddr11 ddr12 L1;
syms a2 r21 r22 da2 dr21 dr22 dda2 ddr21 ddr22 L2;
syms a3 r31 r32 da3 dr31 dr32 dda3 ddr31 ddr32 L3;
syms a4 r41 r42 da4 dr41 dr42 dda4 ddr41 ddr42 L4;
syms a5 r51 r52 da5 dr51 dr52 dda5 ddr51 ddr52 L5;
syms t;
L1=1;L2=1;L3=1;L4=1;L5=1;
A1=[cos(a1) -sin(a1);sin(a1) cos(a1)];
R1=[r11 r12].'; %杆1体坐标系原点坐标
u_1A=[-0.5*L1 0].'; %A点在体坐标系1下的坐标
r1A=R1+A1*u_1A; %A点在全局坐标系下的坐标
fun1=R1+A1*u_1A; %A点约束方程
A2=[cos(a2) -sin(a2);sin(a2) cos(a2)];
R2=[r21 r22].'; %杆2体坐标系原点坐标
u_2B=[-0.5*L2 0].'; %B点在体坐标系2下的坐标
u_1B=[0.5*L1 0].'; %B点在体坐标系1下的坐标
r2B=R2+A2*u_2B; %B点在全局坐标系下的坐标
r1B=R1+A1*u_1B; %B点在全局坐标系下的坐标
fun2=r2B-r1B; %B点约束方程
A3=[cos(a3) -sin(a3);sin(a3) cos(a3)];
R3=[r31 r32].'; %杆3体坐标系原点坐标
u_3C=[-0.5*L3 0].'; %C点在体坐标系3下的坐标
u_2C=[0.5*L2 0].'; %C点在体坐标系2下的坐标
r3C=R3+A3*u_3C; %C点在全局坐标系下的坐标
r2C=R2+A2*u_2C; %C点在全局坐标系下的坐标
fun3=r3C-r2C; %C点约束方程
A4=[cos(a4) -sin(a4);sin(a4) cos(a4)];
R4=[r41 r42].'; %杆4体坐标系原点坐标
u_4D=[-0.5*L4 0].'; %D点在体坐标系4下的坐标
u_3D=[0.5*L3 0].'; %D点在体坐标系3下的坐标
r4D=R4+A4*u_4D; %D点在全局坐标系下的坐标
r3D=R3+A3*u_3D; %D点在全局坐标系下的坐标
fun4=r4D-r3D; %D点约束方程
u_4E=[0.5*L4 0].'; %E点在体坐标系4下的坐标
u_0E=[L5 0].'; %E点在体坐标系1下的坐标
r4E=R4+A2*u_4E; %E点在全局坐标系下的坐标
fun5=r4E-u_0E; %B点约束方程
fun=[fun1;fun2;fun3;fun4;fun5];
symvar(fun);
qd=[R1;R2;a2;R3;a3;R4];
dqd=[dr11,dr12,dr21,dr22,da2,dr31,dr32,da3,dr41,dr42].';
ddqd=[ddr11,ddr12,ddr21,ddr22,dda2,ddr31,ddr32,dda3,ddr41,ddr42].';
qi=[a1;a4];
dqi=[da1;da4];
ddqi=[dda1;dda4];
qn=[qi;qd];
dqn=[dqi;dqd];
ddqn=[ddqi;ddqd];
resu=solve(fun,qd);
Cqd=jacobian(fun,qd);
Cqi=jacobian(fun,qi);
Ct=zeros(10,1);
dqd1=simplify(-Cqd^-1*Cqi*dqi-Cqd^-1*Ct);
dr11=dqd1(1);
dr12=dqd1(2);
dr21=dqd1(3);
dr22=dqd1(4);
da2=dqd1(5);
dr31=dqd1(6);
dr32=dqd1(7);
da3=dqd1(8);
dr41=dqd1(9);
dr42=dqd1(10);
Cdi=-Cqd^-1*Cqi;
Bdi=[eye(2);Cdi];
Ctt=diff(Ct,t);
Cqn=jacobian(fun,qn);
Cqnt=diff(jacobian(fun,qn),t);
Qc=-(jacobian(Cqn*dqn,qn)*dqn+2*Cqnt*dqn+Ctt);
Q_c=[zeros(2:1);((Cqd)^-1)*Qc];
ddqd1=simplify(Cdi*ddqi+Cqd^-1*Qc);
ddr11=ddqd1(1);
ddr12=ddqd1(2);
ddr21=ddqd1(3);
ddr22=ddqd1(4);
dda2=ddqd1(5);
ddr31=ddqd1(6);
ddr32=ddqd1(7);
dda3=ddqd1(8);
ddr41=ddqd1(9);
ddr42=ddqd1(10);
t_m=0:0.01:10;
nn=length(t_m);
mm=0;
w=10;
for ii=1:nn
mm=mm+1;
t=t_m(ii);
a1=exp(-t)*cos(t*w)^1;
da1=-exp(-t)*cos(t*w)-w*exp(-t)*sin(t*w);
dda1=exp(-t)*cos(t*w)-w^2*exp(-t)*cos(t*w)+2*w*exp(-t)*sin(t*w);
a4=exp(-t)*cos(t*w)^1;
da4=-exp(-t)*cos(t*w)-w*exp(-t)*sin(t*w);
dda4=exp(-t)*cos(t*w)-w^2*exp(-t)*cos(t*w)+2*w*exp(-t)*sin(t*w);
r11=cos(a1)/2;
r12=sin(a1)/2;
r21=(16*tan(a1/2)^3*tan(a4/2) + 130*tan(a1/2)^2*tan(a4/2)^2 + 7*tan(a1/2)^4*tan(a4/2)^2 + 50*tan(a1/2)^2 - 9*tan(a1/2)^4 + 91*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 27)/(16*(tan(a1/2)^2 + 1)*(4*tan(a1/2)^2*tan(a4/2)^2 + 2*tan(a1/2)^2 + 3*tan(a4/2)^2 + 1)) - ((tan(a1/2) + 2*tan(a4/2) + tan(a1/2)*tan(a4/2)^2 + 2*tan(a1/2)^2*tan(a4/2))*(11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2)))/(16*(4*tan(a1/2)^2*tan(a4/2)^2 + 2*tan(a1/2)^2 + 3*tan(a4/2)^2 + 1)*(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1));
r22=(2*tan(a1/2))/(tan(a1/2)^2 + 1) - (11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2))/(16*(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1));
a2=-2*atan((11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2))/((4*tan(a1/2)^2*tan(a4/2)^2 + 2*tan(a1/2)^2 + 3*tan(a4/2)^2 + 1)*(135*tan(a1/2)^2*tan(a4/2)^2 + 55*tan(a1/2)^2 + 91*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 27)) + (5*tan(a1/2) + 10*tan(a4/2) - 22*tan(a1/2)*tan(a4/2)^2 + 12*tan(a1/2)^2*tan(a4/2) + 5*tan(a1/2)*tan(a4/2)^4 + 18*tan(a1/2)^4*tan(a4/2) - 20*tan(a1/2)^2*tan(a4/2)^3 - 30*tan(a1/2)^3*tan(a4/2)^2 - 7*tan(a1/2)^3*tan(a4/2)^4 - 14*tan(a1/2)^4*tan(a4/2)^3 + 9*tan(a1/2)^3 + 10*tan(a4/2)^3)/((4*tan(a1/2)^2*tan(a4/2)^2 + 2*tan(a1/2)^2 + 3*tan(a4/2)^2 + 1)*(135*tan(a1/2)^2*tan(a4/2)^2 + 55*tan(a1/2)^2 + 91*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 27)));
r31=(3*tan(a1/2)^2*tan(a4/2)^2 + tan(a1/2)^2 + 4*tan(a4/2)^2 + 2)/((tan(a1/2)^2 + 1)*(tan(a4/2)^2 + 1));
r32=(tan(a1/2) - 2*tan(a4/2) + tan(a1/2)*tan(a4/2)^2 - 2*tan(a1/2)^2*tan(a4/2))/(tan(a1/2)^2*tan(a4/2)^2 + tan(a1/2)^2 + tan(a4/2)^2 + 1);
a3=2*atan((11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2))/((4*tan(a1/2)^2*tan(a4/2)^2 + 2*tan(a1/2)^2 + 3*tan(a4/2)^2 + 1)*(105*tan(a1/2)^2*tan(a4/2)^2 + 33*tan(a1/2)^2 + 65*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 9)) - (23*tan(a1/2) + 46*tan(a4/2) + 134*tan(a1/2)*tan(a4/2)^2 + 156*tan(a1/2)^2*tan(a4/2) + 79*tan(a1/2)*tan(a4/2)^4 + 94*tan(a1/2)^4*tan(a4/2) + 412*tan(a1/2)^2*tan(a4/2)^3 + 198*tan(a1/2)^3*tan(a4/2)^2 + 119*tan(a1/2)^3*tan(a4/2)^4 + 238*tan(a1/2)^4*tan(a4/2)^3 + 47*tan(a1/2)^3 + 158*tan(a4/2)^3)/((4*tan(a1/2)^2*tan(a4/2)^2 + 2*tan(a1/2)^2 + 3*tan(a4/2)^2 + 1)*(105*tan(a1/2)^2*tan(a4/2)^2 + 33*tan(a1/2)^2 + 65*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 9)));
r41=(89*tan(a1/2)^2*tan(a4/2)^2 + 57*tan(a1/2)^2 + 77*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + (tan(a1/2)*(11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2)))/(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1) + (2*tan(a4/2)*(11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2)))/(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1) + (tan(a1/2)*tan(a4/2)^2*(11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2)))/(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1) + (2*tan(a1/2)^2*tan(a4/2)*(11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2)))/(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1) + 29)/(32*tan(a1/2)^2*tan(a4/2)^2 + 16*tan(a1/2)^2 + 24*tan(a4/2)^2 + 8);
r42=(11*tan(a1/2) + 22*tan(a4/2) + 86*tan(a1/2)*tan(a4/2)^2 + 84*tan(a1/2)^2*tan(a4/2) + 43*tan(a1/2)*tan(a4/2)^4 + 46*tan(a1/2)^4*tan(a4/2) + 244*tan(a1/2)^2*tan(a4/2)^3 + 126*tan(a1/2)^3*tan(a4/2)^2 + 71*tan(a1/2)^3*tan(a4/2)^4 + 142*tan(a1/2)^4*tan(a4/2)^3 + 23*tan(a1/2)^3 + 86*tan(a4/2)^3 - 8*tan(a1/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 12*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 4*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2) - 16*tan(a1/2)^2*tan(a4/2)^2*(((33*tan(a1/2)^2 - 15*tan(a1/2)^2*tan(a4/2)^2 + 13*tan(a4/2)^2 - 16*tan(a1/2)*tan(a4/2) + 45)*(63*tan(a1/2)^2*tan(a4/2)^2 + 15*tan(a1/2)^2 + 35*tan(a4/2)^2 + 16*tan(a1/2)*tan(a4/2) + 3))/16)^(1/2))/(8*(4*tan(a1/2)*tan(a4/2)^3 + 4*tan(a1/2)^3*tan(a4/2) + 30*tan(a1/2)^2*tan(a4/2)^2 + 25*tan(a1/2)^2*tan(a4/2)^4 + 4*tan(a1/2)^3*tan(a4/2)^3 + 20*tan(a1/2)^4*tan(a4/2)^2 + 16*tan(a1/2)^4*tan(a4/2)^4 + 5*tan(a1/2)^2 + 4*tan(a1/2)^4 + 10*tan(a4/2)^2 + 9*tan(a4/2)^4 + 4*tan(a1/2)*tan(a4/2) + 1));
dr11=-(da1*sin(a1))/2;
dr12=(da1*cos(a1))/2;
dr21=-(da1*cos(a1)*sin(a2)*sin(a3) - 4*da1*cos(a2)*sin(a1)*sin(a3) + 3*da1*cos(a3)*sin(a1)*sin(a2) - 2*da4*cos(a3)*sin(a2)*sin(a4) + 2*da4*cos(a4)*sin(a2)*sin(a3))/(4*sin(a2 - a3));
dr22=-(3*da1*cos(a1)*cos(a2)*sin(a3) - 4*da1*cos(a1)*cos(a3)*sin(a2) + da1*cos(a2)*cos(a3)*sin(a1) + 2*da4*cos(a2)*cos(a3)*sin(a4) - 2*da4*cos(a2)*cos(a4)*sin(a3))/(4*sin(a2 - a3));
da2=-(da1*sin(a1 - a3) - 2*da4*sin(a3 - a4))/(4*sin(a2 - a3));
dr31=da4*sin(a4) - (da1*sin(a1))/2;
dr32=(da1*cos(a1))/2 - da4*cos(a4);
da3= (da1*sin(a1 - a2) - 2*da4*sin(a2 - a4))/(3*sin(a2 - a3));
dr41=-(sin(a2)*(da1*sin(a1 - a3) - 2*da4*sin(a3 - a4)))/(2*sin(a2 - a3));
dr42=(cos(a2)*(da1*sin(a1 - a3) - 2*da4*sin(a3 - a4)))/(2*sin(a2 - a3));
ddr11=- (dda1*sin(a1))/2 - (da1^2*cos(a1))/2;
ddr12=(dda1*cos(a1))/2 - (da1^2*sin(a1))/2;
ddr21= (4*da2^2*sin(a3) + 3*da3^2*sin(a2) - dda1*cos(a1)*sin(a2)*sin(a3) + 4*dda1*cos(a2)*sin(a1)*sin(a3) - 3*dda1*cos(a3)*sin(a1)*sin(a2) + 2*dda4*cos(a3)*sin(a2)*sin(a4) - 2*dda4*cos(a4)*sin(a2)*sin(a3) + 4*da1^2*cos(a1)*cos(a2)*sin(a3) - 3*da1^2*cos(a1)*cos(a3)*sin(a2) + 2*da4^2*cos(a3)*cos(a4)*sin(a2) + da1^2*sin(a1)*sin(a2)*sin(a3) + 2*da4^2*sin(a2)*sin(a3)*sin(a4))/(4*sin(a2 - a3));
ddr22=-(4*da2^2*cos(a3) + 3*da3^2*cos(a2) + 3*dda1*cos(a1)*cos(a2)*sin(a3) - 4*dda1*cos(a1)*cos(a3)*sin(a2) + dda1*cos(a2)*cos(a3)*sin(a1) + 2*dda4*cos(a2)*cos(a3)*sin(a4) - 2*dda4*cos(a2)*cos(a4)*sin(a3) + da1^2*cos(a1)*cos(a2)*cos(a3) + 2*da4^2*cos(a2)*cos(a3)*cos(a4) - 3*da1^2*cos(a2)*sin(a1)*sin(a3) + 4*da1^2*cos(a3)*sin(a1)*sin(a2) + 2*da4^2*cos(a2)*sin(a3)*sin(a4))/(4*sin(a2 - a3));
dda2=-(cos(a1 - a3)*da1^2 + 4*cos(a2 - a3)*da2^2 + 3*da3^2 + 2*cos(a3 - a4)*da4^2 + dda1*sin(a1 - a3) - 2*dda4*sin(a3 - a4))/(4*sin(a2 - a3));
ddr31=cos(a4)*da4^2 - (dda1*sin(a1))/2 + dda4*sin(a4) - (da1^2*cos(a1))/2;
ddr32=sin(a4)*da4^2 + (dda1*cos(a1))/2 - dda4*cos(a4) - (da1^2*sin(a1))/2;
dda3=(cos(a1 - a2)*da1^2 + 4*da2^2 + 3*cos(a2 - a3)*da3^2 + 2*cos(a2 - a4)*da4^2 + dda1*sin(a1 - a2) - 2*dda4*sin(a2 - a4))/(3*sin(a2 - a3));
ddr41=-(4*da2^2*sin(a3) + 3*da3^2*sin(a2) - dda1*cos(a1)*sin(a2)*sin(a3) + dda1*cos(a3)*sin(a1)*sin(a2) + 2*dda4*cos(a3)*sin(a2)*sin(a4) - 2*dda4*cos(a4)*sin(a2)*sin(a3) + da1^2*cos(a1)*cos(a3)*sin(a2) + 2*da4^2*cos(a3)*cos(a4)*sin(a2) + da1^2*sin(a1)*sin(a2)*sin(a3) + 2*da4^2*sin(a2)*sin(a3)*sin(a4))/(2*sin(a2 - a3));
ddr42=(4*da2^2*cos(a3) + 3*da3^2*cos(a2) - dda1*cos(a1)*cos(a2)*sin(a3) + dda1*cos(a2)*cos(a3)*sin(a1) + 2*dda4*cos(a2)*cos(a3)*sin(a4) - 2*dda4*cos(a2)*cos(a4)*sin(a3) + da1^2*cos(a1)*cos(a2)*cos(a3) + 2*da4^2*cos(a2)*cos(a3)*cos(a4) + da1^2*cos(a2)*sin(a1)*sin(a3) + 2*da4^2*cos(a2)*sin(a3)*sin(a4))/(2*sin(a2 - a3));
r11_m(ii)=r11;
r12_m(ii)=r12;
a1_m(ii)=a1;
r21_m(ii)=r21;
r22_m(ii)=r22;
a2_m(ii)=a2;
r31_m(ii)=r31;
r32_m(ii)=r32;
a3_m(ii)=a3;
r41_m(ii)=r41;
r42_m(ii)=r42;
a4_m(ii)=a3;
dr11_m(ii)=dr11;
dr12_m(ii)=dr12;
da1_m(ii)=da1;
dr21_m(ii)=dr21;
dr22_m(ii)=dr22;
da2_m(ii)=da2;
dr31_m(ii)=dr31;
dr32_m(ii)=dr32;
da3_m(ii)=da3;
dr41_m(ii)=dr41;
dr42_m(ii)=dr42;
da4_m(ii)=da3;
ddr11_m(ii)=ddr11;
ddr12_m(ii)=ddr12;
dda1_m(ii)=dda1;
ddr21_m(ii)=ddr21;
ddr22_m(ii)=ddr22;
dda2_m(ii)=dda2;
ddr31_m(ii)=ddr31;
ddr32_m(ii)=ddr32;
dda3_m(ii)=dda3;
ddr41_m(ii)=ddr41;
ddr42_m(ii)=ddr42;
dda4_m(ii)=dda3;
end
figure(1)
plot(t_m,r11_m,'k',t_m,dr11_m,'r',t_m,ddr11_m,'b','linewidth',0.8);
figure(2)
plot(t_m,r11_m,'k');
figure(3)
plot(t_m,r12_m,'k');
hold on
plot([0 t_m(end)],[r12_m(end) r12_m(end)],'-k');
figure(4)
plot(t_m,a1_m*180/pi,'k');
hold on
plot([0 t_m(end)],[a1_m(end) a1_m(end)],'-k');
figure(5)
subplot(3,1,3),plot(t_m,a1_m*180/pi)
subplot(3,1,2),plot(t_m,da1_m*180/pi)
subplot(3,1,1),plot(t_m,dda1_m*180/pi)
仿真结果
850
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