牛头刨床全角度分析

caoyue

全角度分析速度，加速度，角加速度。

clear all;clc;
w1=1;l1=0.125;l3=0.6;l6=0.275;l61=0.575;l4=0.15;
for m=1:3601
o1(m)=pi*(m-1)/1800;o31(m)=atan((l6+l1*sin(o1(m)))/(l1*cos(o1(m))));
if o31(m)>=0
o3(m)=o31(m);
else o3(m)=pi+o31(m);
end;
s3(m)=(l1*cos(o1(m)))/cos(o3(m));o4(m)=pi-asin((l61-l3*sin(o3(m)))/l4);
se(m)=l3*cos(o3(m))+l4*cos(o4(m));
if o1(m)==pi/2
o3(m)=pi/2; s3(m)=l1+l6;
end
if o1(m)==3*pi/2
o3(m)=pi/2; s3(m)=l6-l1;
end
A1=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];
B1=w1*[-l1*sin(o1(m));l1*cos(o1(m));0;0];D1=A1\B1;E1(:,m)=D1;ds(m)=D1(1);w3(m)=D1(2);w4(m)=D1(3);ve(m)=D1(4);
A2=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];
B2=-[-w3(m)*sin(o3(m)),(-ds(m)*sin(o3(m))-s3(m)*w3(m)*cos(o3(m))),0,0;w3(m)*cos(o3(m)),(ds(m)*cos(o3(m))-s3(m)*w3(m)*sin(o3(m))),0,0;0,-l3*w3(m)*cos(o3(m)),-l4*w4(m)*cos(o4(m)),0;0,-l3*w3(m)*sin(o3(m)),-l4*w4(m)*sin(o4(m)),0]*[ds(m);w3(m);w4(m);ve(m)];
C2=w1*[-l1*w1*cos(o1(m));-l1*w1*sin(o1(m));0;0];B=B2+C2;D2=A2\B;E2(:,m)=D2;dds(m)=D2(1);a3(m)=D2(2);a4(m)=D2(3);ae(m)=D2(4);
end;
o11=o1*180/pi;y=[o3*180/pi;o4*180/pi];w=[w3;w4];a=[a3;a4];figure;
subplot(221);h1=plotyy(o11,y,o11, se); axis equal;
title('位置线图');xlabel('\it\theta1');ylabel('\it\theta3,\theta4,Se');
subplot(222);h2=plotyy(o11,w,o11,ve);
title('速度线图');
xlabel('\it\theta1');ylabel('\it\omega3,\omega4,Ve');
subplot(212);h3=plotyy(o11,a,o11,ae);
title('加速度线图');
xlabel('\it\theta1');ylabel('\it\alpha3,\alpha4,\alphaE');
F=[o11;o3./pi*180;o4./pi*180;se;w3;w4;ve;a3;a4;ae]';G=F(1:100:3601,:)