无碳小车 matlab,基于无碳小车前轮运动关系的MATLAB运动轨迹仿真.doc

基于无碳小车前轮运动关系的MATLAB运动轨迹仿真

基于无碳小车前轮运动关系的MATLAB运动轨迹仿真

clear all;clc;

R=50;

r=15;

L=150;

k=1/5;

e=12.5;

arf0=0;

fx1=@(sita)(cos(arf0-R*r*r/k/L/e/e*sin(sita)-atan(r*cos(sita)/e))*R/k./cos(atan(r*cos(sita)/e)));

fx2=@(sita)(sin(arf0-R*r*r/k/L/e/e*sin(sita)-atan(r*cos(sita)/e))*R/k./cos(atan(r*cos(sita)/e)));

sita=0:0.05:4*pi;

for ii=1:length(sita)

sita0=sita(ii);

x(ii)=quadl(fx1,0,sita0);

y(ii)=quadl(fx2,0,sita0);

end

plot(x,y);

基于无碳小车转弯半径计算方法的MATLAB运算

clc;clear all;

a=100;

b=50;

L=150;

sita=0.9;

arf=0.9;

B=100;

A=a*cos(sita)/b;

beta=atan(sin(arf)/(A+cos(arf)));

Rg=b/sin(beta)

Rq=Rg*cos(beta)/cos(sita)

Of=sqrt(Rg*Rg+b*b-2*Rg*b*sin(beta))

Rw=sqrt(Of*Of+B*B/4+B*Of)

clc;clear all;

a=100;

b=50;

L=150;

sita=-0.9:0.01:0.9;

arf=sita;

B=100;

A=a*cos(sita)/b;

beta=atan(sin(arf)./(A+cos(arf)));

Rg=b./sin(beta);

Rq=Rg.*cos(beta)./cos(sita);

Of=sqrt(Rg.*Rg+b*b-2*Rg*b.*sin(beta));

Rw=sqrt(Of.*Of+B*B/4+B*Of);

plot(sita,Rg,sita,Rq,sita,Of,sita,Rw);

axis(-0.9,0.9)