matlab牛头刨床源程序,牛头刨床matlab源程序

MATLAB 源程序 w_1=1;l_1=0.125;l_3=0.6;l_6=0.275;l_61=0.575;l_4=0.15; for m=1:3601 o_1(m)=pi*(m-1)/1800;o_31(m)=atan((l_6+l_1*sin(o_1(m)))/(l_1*cos(o_1(m)))); if o_31(m)>=0 o_3(m)=o_31(m); else o_3(m)=pi+o_31(m); end; s_3(m)=(l_1*cos(o_1(m)))/cos(o_3(m));o_4(m)=pi-asin((l_61-l_3*sin(o_3(m)))/l_4); s_e(m)=l_3*cos(o_3(m))+l_4*cos(o_4(m)); if o_1(m)==pi/2 o_3(m)=pi/2; s_3(m)=l_1+l_6; end if o_1(m)==3*pi/2 o_3(m)=pi/2; s_3(m)=l_6-l_1; end A1=[cos(o_3(m)),-s_3(m)*sin(o_3(m)),0,0;sin(o_3(m)),s_3(m)*cos(o_3(m)),0,0;0,-l_3*sin(o_3(m)) ,-l_4*sin(o_4(m)),-1;0,l_3*cos(o_3(m)),l_4*cos(o_4(m)),0]; B1=w_1*[-l_1*sin(o_1(m));l_1*cos(o_1(m));0;0];D1=A1\B1;E1(:,m)=D1;d_s(m)=D1(1);w_3(m)=D 1(2);w_4(m)=D1(3);v_e(m)=D1(4); A2=[cos(o_3(m)),-s_3(m)*sin(o_3(m)),0,0;sin(o_3(m)),s_3(m)*cos(o_3(m)),0,0;0,-l_3*sin(o_3(m)) ,-l_4*sin(o_4(m)),-1;0,l_3*cos(o_3(m)),l_4*cos(o_4(m)),0]; B2=-[-w_3(m)*sin(o_3(m)),(-d_s(m)*sin(o_3(m))-s_3(m)*w_3(m)*cos(o_3(m))),0,0;w_3(m)*cos( o_3(m)),(d_s(m)*cos(o_3(m))-s_3(m)*w_3(m)*sin(o_3(m))),0,0;0,-l_3*w_3(m)*cos(o_3(m)),-l_4 *w_4(m)*cos(o_4(m)),0;0,-l_3*w_3(m)*sin(o_3(m)),-l_4*w_4(m)*sin(o_4(m)),0]*[d_s(m);w_3(m );w_4(m);v_e(m)]; C2=w_1*[-l_1*w_1*cos(o_1(m));-l_1*w_1*sin(o_1(m));0;0];B=B2+C2;D2=A2\B;E2(:,m)=D2;dd_s 1(m)=D2(1);a_3(m)=D2(2);a_4(m)=D2(3);a_e(m)=D2(4); end; o_11=o_1*180/pi;y=[o_3*180/pi;o_4*180/pi];w=[w_3;w_4];a=[a_3;a_4];figure; subplot(2,2,1);h1=plotyy(o_11,y,o_11 ,s_e); axis auto; set(gca,'YTick',[30:30:270]);title('位置图'); xlabel('\theta_1');ylabel('\theta_3,\theta_4');set(get(h1(2),'Ylabel'),'String','s_e/m'); text(90,100,'\theta_3');text(150,185,'\theta_4');text(300,150,'S_e'); grid;subplot(2,2,2);h2=plotyy(o_11,w,o_11,v_e);title('速度图'); set(gca,'YTick',[-1.2:0.4:0.6]); xlabel('\theta_1');ylabel('\omega_3,\omega_4/(rad/s)');set(get(h2(2),'Ylabel'),'String','V_e/(m/s)'; text(20,0.4,'\omega_4');text(150,0.35,'\omega_3');text(280,0.55,'V_e');grid; subplot(2,1,2);h3=plotyy(o_11,a,o_11,a_e); title('加速度图'); xlabel('\theta_1');ylabel('\alpha_3,\alpha_4/(rad/s^2)');set(get(h3(2),'Ylabel'),'String','a_e/(m/s^2 )'); text(210,-0.4,'\alpha_3');text(290,-1.5,'a_e');text(320,1.5,'\alpha_4');grid;

F=[o_11;o_3./pi*180;o_4./pi*180;s_e;w_3;w_4;v_e;a_3;a_4;a_e]';G=F(1:100:3601,:)