MATLAB牛头刨床分析程序-课程设计.docVIP

MATLAB牛头刨床分析程序-课程设计 MATLAB牛头刨床分析程序-课程设计 PAGE / NUMPAGES MATLAB牛头刨床分析程序-课程设计 w1=1;l1=;l3=;l4=;l6=;l61=; for i=1:3601 theta1(i)=pi*(i-1)/1800; theta31(i)=atan((l6+l1*sin(theta1(i)))/(l1*cos(theta1(i)))); if theta31(i)=0 theta3(i)=theta31(i); else theta3(i)=pi+theta31(i); end; s3(i)=(l1*cos(theta1(i)))/cos(theta3(i)); theta4(i)=pi-asin((l61-l3*sin(theta3(i)))/l4); sE(i)=l3*cos(theta3(i))+l4*cos(theta4(i)); if theta1(i)==pi/2 theta3(i)=pi/2; s3(i)=l1+l6; end; if theta1(i)==3*pi/2 theta3(i)=pi/2; s3(i)=l6-l1; end; A1=[cos(theta3(i)),-s3(i)*sin(theta3(i)),0,0;sin(theta3(i)),s 3(i)*cos(theta3(i)),0,0;0,-l3*sin(theta3(i)),-l4*sin(theta4(i )),-1;0,l3*cos(theta3(i)),l4*cos(theta4(i)),0]; B1=w1*[-l1*sin(theta1(i));l1*cos(theta1(i));0;0]; C1=A1\B1; D1(:,i)=C1; s31(i)=D1(1,i);w3(i)=D1(2,i);w4(i)=D1(3,i);vE(i)=D1(4,i); A2=[cos(theta3(i)),-s3(i)*sin(theta3(i)),0,0;sin(theta3(i)),s 3(i)*cos(theta3(i)),0,0;0,-l3*sin(theta3(i)),-l4*sin(theta4(i )),-1;0,l3*cos(theta3(i)),l4*cos(theta4(i)),0]; B2=[-w3(i)*sin(theta3(i)),(-s31(i)*sin(theta3(i))-s3(i)*w3(i) *cos(theta3(i))),0,0;w3(i)*cos(theta3(i)),(s31(i)*cos(theta3( i))-s3(i)*w3(i)*sin(theta3(i))),0,0;0,-l3*w3(i)*cos(theta3(i) ),-l4*w4(i)*cos(theta4(i)),0;0,-l3*w3(i)*sin(theta3(i)),-l4*w 4(i)*sin(theta4(i)),0]*[s31(i);w3(i);w4(i);vE(i)]; C2=w1*[-l1*w1*cos(theta1(i));-l1*w1*sin(theta1(i));0;0]; D2=B2+C2;E=A2\D2;F(:,i)=E; s311(i)=F(1,i);a3(i)=F(2,i);a4(i)=F(3,i);aE(i)=F(4,i); end; theta11=theta1*180/pi;y=[theta3*180/pi;theta4*180/pi];w=[w3;w 4];a=[a3;a4];figure; subplot(221);h1=plotyy(theta11,y,theta11,sE);axis  equal ; title( 位移线图 ); xlabel( \it\theta1  );ylabel(  \it\theta3,\theta4,Se  ); text(315,215, sE ); text(180,180, theta4 text(70,105, theta3  ); ); subplot(222);h2=plotyy(theta11,w,theta11,vE); title( 速度线图 ); text(300,, vE ); text(165,, w3 ); text(90,, w4 ); xlabel( \it\theta1 );ylabel( \it\omega3,\omega4,vE ); subplot(223);h3=plotyy(theta11,a,theta11,aE); title( 加速度线图 ); text(185,, a3 ); text(100,, a2 ); text(100,,