基于无碳小车前轮运动关系的MATLAB运动轨迹仿真

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1、基于无碳小车前轮运动关系的MATLAB运动轨迹仿真clearall;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*c

2、os(sita)/e)));sita=0:0.05:4*pi;forii=1:length(sita)sita0=sita(ii);x(ii)=quadl(fx1,0,sita0);y(ii)=quadl(fx2,0,sita0);endplot(x,y);基于无碳小车转弯半径计算方法的MATLAB运算clc;clearall;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)));

3、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;clearall;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(sit

4、a);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)