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【正文】 A.^2+B.^2))atan(B./A)。format longrou=a1+(d)./(tan(af))。s=sd2*R。ds=s(2)s(1)。dbd=ds./(rou)。bd=cumsum(dbd)。dy=ds*cos(bd)。dx=ds*sin(bd)。x=cumsum(dx)。y=cumsum(dy)。xb=x(a1+a2).*cos(bd)。yb=y(a1+a2).*sin(bd)。xc=xa1*cos(bd)d*sin(bd)。yc=ya1*sin(bd)+d*cos(bd)。 toc %動(dòng)力學(xué)分析%參數(shù)輸入%重物質(zhì)量m=1。%小車(chē)總質(zhì)量mc=+1。Nc=*mc/3。%小車(chē)慣量rc=。I=mc*rc^2。a3=。II=I+m*((roua1).^2+a3^2)。%傳動(dòng)效率lmd=。%%%%%%%%%%%%%%前輪半徑RC=。%前輪寬度B=2/1000。%彈性模量E1=100*1000000000。E2=150*1000000000。mu=。%接觸應(yīng)力sgmc=sqrt((Nc/B/RC)/(2*pi*(1mu^2)/E1))。bc=Nc/sgmc/2/B。%摩擦因素mucmuc=。%摩擦力矩McMc=sgmc*muc*bc*B^2/4。%摩阻系數(shù)sgm=。mMN=rou.*(m**r2*lmdNc*sgm)/R。K=rou.*m*r2^2*lmd/R^2。NCNB=Nc*sgm.*sqrt((roua1).^2+d^2)/RC+Nc*sgm*(roua1a2)。RIA=II./rou。NRA=NCNB*R./rou。aa=(mMNNCNB)./(K+RIA)。 plot(y,aa)hold on cleartic%符號(hào)定義%重物下降的高度h%驅(qū)動(dòng)軸轉(zhuǎn)過(guò)角度sd2%驅(qū)動(dòng)軸與圓柱凸輪軸傳動(dòng)比ii%轉(zhuǎn)向輪與圓柱凸輪軸心距b%轉(zhuǎn)向桿的長(zhǎng)c%轉(zhuǎn)向輪轉(zhuǎn)過(guò)的角度af%驅(qū)動(dòng)輪半徑R%驅(qū)動(dòng)輪A與轉(zhuǎn)向輪橫向偏距a1%驅(qū)動(dòng)輪B與轉(zhuǎn)向輪橫向偏距a2%驅(qū)動(dòng)軸與轉(zhuǎn)向輪的距離d%小車(chē)行駛的路程s%小車(chē)x方向的位移x%小車(chē)y方向的位移y%軌跡曲率半徑rou%曲柄半徑r1%繩輪半徑r2%參數(shù)輸入n=10000。h=linspace(0,n)。ii=3。b=。R=。%驅(qū)動(dòng)輪A與轉(zhuǎn)向輪橫向偏距a1a1=。%驅(qū)動(dòng)輪B與轉(zhuǎn)向輪橫向偏距a2a2=。%曲柄半徑r1r1=。%繩輪半徑r2r2=。%驅(qū)動(dòng)軸與轉(zhuǎn)向輪的距離dd=。%轉(zhuǎn)向桿的長(zhǎng)cc=。l=sqrt(b^2+r1^2)+()/1000。aa=zeros(1,8)。kk=zeros(3,8)。A1=zeros(9,4)。ddc=。aa(1,1)=ii。aa(1,2)=b。aa(1,3)=R。aa(1,4)=a1。aa(1,5)=r1。aa(1,6)=r2。aa(1,7)=c。aa(1,8)=l。%算法for i=1:9 if i1 aa(1,i1)=aa(1,i1)+ddc。 endii=aa(1,1)。b=aa(1,2)。R=aa(1,3)。a1=aa(1,4)。r1=aa(1,5)。r2=aa(1,6)。c=aa(1,7)。l=aa(1,8)。 g=10。sd2=h/r2。sd1=sd2/ii+pi/2。C=l^22*c^2r1^2.*(cos(sd1)).^2(br1.*sin(sd1)).^2。A=2.*c.*(br1.*sin(sd1))。B=2*c^2。af=asin(C./sqrt(A.^2+B.^2))atan(B./A)。format longrou=a1+(d)./(tan(af))。s=sd2*R。ds=s(2)s(1)。dbd=ds./(rou)。bd=cumsum(dbd)。dy=ds*cos(bd)。dx=ds*sin(bd)。x=cumsum(dx)。y=cumsum(dy)。plot(x,y)grid onhold onfor j=fix(*n/9):fix(*n/9) if x(j)==min(x(fix(*n/9):fix(*n/9))) A1(i,1)=x(j)。 A1(i,2)=y(j)。 endif x(j)==max(x) A1(i,3)=x(j)。 A1(i,4)=y(j)。endendif i1aa(1,i1)=aa(1,i1)ddc。endendfor i=2:9 kk(1,i1)=(A1(i,1)A1(1,1))/ddc/14。%幅值 kk(2,i1)=(A1(i,4)A1(1,4))/ddc/4。%波長(zhǎng) kk(3,i1)=A1(i,3)/ddc/8/8。%角度endtockk39。 整理分享
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