转向梯形优化设计.docVIP

function fuun．m 编辑过程 在MATLAB窗口新建一个空白M文件 将下式输入 function c=theatar() %建立主函数 global options L b r a K thetamax cl cr fi0 %定义全局变量 K=1638; %input(输入主销中心线间距（mm）); %依次给予几个变量赋值 L=3308; %input(输入轴距（mm）); thetamax=40; %input(输入外转向轮最大转角（度）); x(1)=175; %input(臂长（mm）); x(2)=74.5; %input(底角（度）); b=8; %input(内倾角（度）); r=2; %input(后倾角（度）); a=1; %input(外倾角（度）); thetamax=thetamax*pi/180; %单位转换，弧度与度数转变 lb(1)=0.11*K; %设置上下限 lb(2)=1.2217; %acot(K/(1.2*L)); ub(1)=0.13*K; ub(2)=pi/2; fil=linspace(0,thetamax,61); lb=[lb(1),lb(2)]; ub=[ub(1),ub(2)]; x0=[x(1),x(2)]; % A=[0.251 0.372]; % b=[0.143]; [y,fval]=fmincon(fuun,x0,[],[],[],[],lb,ub,[]); %利用工具箱中的x = fmincon(fun,x0,A,b,Aeq,beq,lb,ub,nonlcon)进行计算 Y=y; %[y,resnorm]=lsqnonlin(fuun,x0,lb,ub,options) %betae(i) y = fmincon(fuun,x0,[],[],[],[],lb,ub) for i=1:61 %设置60个区域 fil=linspace(0,thetamax,61); %betae(i)=acot(cot(fil(i))-(K/L)); fi=fii(r*pi/180,b*pi/180);%以下将各公式单位转换，并代入公式 dt=delta(r*pi/180,fii(r*pi/180,b*pi/180));%=dt d=Di(fii(r*pi/180,b*pi/180),a*pi/180,delta(r*pi/180,fii(r*pi/180,b*pi/180)));%=d Mid_w=Ww(a*pi/180,delta(r*pi/180,fii(r*pi/180,b*pi/180)),Di(fii(r*pi/180,b*pi/180),a*pi/180,delta(r*pi/180,fii(r*pi/180,b*pi/180))));%=w a1(i)=alfa(fi,d,fil(i),Mid_w); A(i)=K*cos(b*pi/180)-x(1)*cos(2*(b*pi/180))*cos(x(2)*pi/180+fil(i)); B(i)=x(1)*sin(x(2)*pi/180+fil(i)); C(i)=K*cos(b*pi/180)*cos(x(2)*pi/180+fil(i))-2*K*cos(b*pi/180)*cos(x(2)*pi/180)+2*x(1)*(cos(b*pi/180)^2)*(cos(x(2)*pi/180)^2)-x(1); fir(i)=abs(fiir(A(i),B(i),C(i),x(2)*pi/180)); a2(i)=alfa2(fi,d,fir(i),Mid_w); cl(i)=acos((cos(lamta(d,fil(i)))-sin(a*pi/180)*sin(a1(i)))/(cos(a*pi/180)*cos(a1(i))))*180/pi; cr(i)=acos((cos(lamta(d,fir(i)))-sin(a*pi/180)*sin(a2(i)))/(cos(a*pi/180)*cos(a2(i))))*180/pi; betae(i)=acot(cot(cl(i)*pi/180)-(K/L)); Aa(i)=K*cos(b*pi/180)-y(1)*cos(2*(b*pi/180))*cos(y(2)+fil(i)); Ba(i)=y(1)*sin(y(2)+fil(i)); Ca(i)=K*cos(b*pi/180)*cos(y(2)+fil(i))-2*K*cos(b*pi/180)*cos