电机函数驱动法针对转速突变(也就是振动激励的方法)
Motion
的
step
函数
:
step(time,0,0,0.3,6000d*time)+step(time,1,0,1.01,200d*time)+step(tim
e,1.01,0,1.02,-200d*time)+step(time,1.5,0,1.51,200d*time)+step(time,1
.51,0,1.52,-200d*time)+step(time,2,0,2.01,200d*time)+step(time,2.01,0
,2.02,-200d*time)+step(time,2.5,0,2.51,200d*time)+step(time,2.51,0,2.
52,-200d*time)+step(time,3,0,3.01,200d*time)+step(time,3.01,0,3.02,-
200d*time)+step(time,3.5,0,3.51,200d*time)+step(time,3.51,0,3.52,-20
0d*time)+step(time,4,0,4.01,200d*time)+step(time,4.01,0,4.02,-200d*t
ime)