改进欧拉法改进欧拉法.docx

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1、%¶Ô¼Óµ¯»É×èÄáËĸ˻ú¹¹½øÐж¯Á¦Ñ§·ÖÎö+BaumgarteÎ¥Ô¼ÐÞÕý·¨clearclcm2=1.1289713258;%Èý¸ö¸ËµÄÖÊÁ¿kgm3=3.3132513258;m4=3.0012113258;g=9806.65;%ÖØÁ¦¼ÓËÙ¶È9806.65mm/s2l2=150;%¶þ¸Ë³¤¶Èmml3=500;%Èý¸Ë³¤¶Èmml4=450;%Ëĸ˳¤¶Èmml5=400;%Á½¸öµ××ùÖ®¼äµÄ¾àÀëmmM=10000000;

2、%¶þ¸ËŤ¾ØΪ10000N.m£¬»»Ëã³ÉmatlabËùÓõ¥Î»£¬Á¦¾ØΪ10000000¡£k=4000;%µ¯»É¸Õ¶ÈΪ4N/mm,»»Ëã³ÉmatlabËùÓõ¥Î»£¬µ¯»É¸Õ¶ÈΪ4000¡£c=400;%×èÄáΪ0.4N/(mm/s)£¬»»Ëã³ÉmatlabËùÓõ¥Î»£¬×èÄáΪ400¡£L0=416.08;%µ¯»ÉÔ³¤mma=0;%ÐÞÕý²ÎÊýab=0;%ÐÞÕý²ÎÊýbdt=0.00001;%²½³¤t=0:dt:5

3、;%ÉèÖÃʱ¼äΪ5sn=length(t)%·ÂÕæ²½Êýq=zeros(9,n);%²úÉú9ÐÐnÁеÄÁã¾ØÕó(l4^2*m4)/12q_v=zeros(9,n);q_ac=zeros(9,n);q(1:9,1)=[075pi/22003000.6435011094002251.5*pi];%ÉèÖõü´ú³õÖµ£¬Ò²ÊÇÈý¸ö¸ËµÄ³õʼλÖÃforce=zeros(8,n);F=zeros(1,n);i=1A=[m2,0,0,0,0,0,0,0,0,1,0,1

4、,0,0,0,0,00,m2,0,0,0,0,0,0,0,0,1,0,1,0,0,0,00,0,3246.2937888297,0,0,0,0,0,0,(l2*sin(q(3,i)))/2,-(l2*cos(q(3,i)))/2,-(l2*sin(q(3,i)))/2,(l2*cos(q(3,i)))/2,0,0,0,00,0,0,m3,0,0,0,0,0,0,0,-1,0,1,0,0,00,0,0,0,m3,0,0,0,0,0,0,0,-1,0,1,0,00,0,0,0,0,7.832727911

5、e+004,0,0,0,0,0,-(l3*sin(q(6,i)))/2,(l3*cos(q(6,i)))/2,-(l3*sin(q(6,i)))/2,(l3*cos(q(6,i)))/2,0,00,0,0,0,0,0,m4,0,0,0,0,0,0,-1,0,1,00,0,0,0,0,0,0,m4,0,0,0,0,0,0,-1,0,10,0,0,0,0,0,0,0,5.8297131592e+004,0,0,0,0,-(l4*sin(q(9,i)))/2,(l4*cos(q(9,i)))/2,-(l4

6、*sin(q(9,i)))/2,(l4*cos(q(9,i)))/21,0,(l2*sin(q(3,i)))/2,0,0,0,0,0,0,0,0,0,0,0,0,0,00,1,-(l2*cos(q(3,i)))/2,0,0,0,0,0,0,0,0,0,0,0,0,0,01,0,-(l2*sin(q(3,i)))/2,-1,0,-(l3*sin(q(6,i)))/2,0,0,0,0,0,0,0,0,0,0,00,1,(l2*cos(q(3,i)))/2,0,-1,(l3*cos(q(6,i)))/2,

7、0,0,0,0,0,0,0,0,0,0,00,0,0,1,0,-(l3*sin(q(6,i)))/2,-1,0,-(l4*sin(q(9,i)))/2,0,0,0,0,0,0,0,00,0,0,0,1,(l3*cos(q(6,i)))/2,0,-1,(l4*cos(q(9,i)))/2,0,0,0,0,0,0,0,00,0,0,0,0,0,1,0,-(l4*sin(q(9,i)))/2,0,0,0,0,0,0,0,00,0,0,0,0,0,0,1,(l4*cos(q(9,i)))/2,0,0,0,0

8、,0,0,0,0];fs=k*(sqrt((q(7,i)-750)^2+(q(8,i)-0)^2)-L0);%µ¯»ÉÁ¦fc=-c*q_v(7,i)*(750-q(7,i))/sqrt((q(7,i)-750)^2+(q(8,i)-0)^2)+c*q_v(8,i)*(q(8,i)-0)/sqrt((q(7,i)-750)^2+(q(8,i)-0)^2);%×èÄáÁ¦F(1,i)=fs+fc;%µ¯»ÉÁ¦¼Ó×èÄáÁ¦B=[0;-m2*g;M;0;-m3*g0;