MATLAB牛头刨床分析程序-课程设计

w1=1;l1=0.125;l3=0.6;l4=0.15;l6=0.275;l61=0.575;fori=1:3601theta1(i)=pi*(i-1)/1800;theta31(i)=atan((l6+l1*sin(theta1(i)))/(l1*cos(theta1(i))));iftheta31(i)=0theta3(i)=theta31(i);elsetheta3(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));iftheta1(i)==pi/2theta3(i)=pi/2;s3(i)=l1+l6;end;iftheta1(i)==3*pi/2theta3(i)=pi/2;s3(i)=l6-l1;end;A1=[cos(theta3(i)),-s3(i)*sin(theta3(i)),0,0;sin(theta3(i)),s3(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)),s3(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*w4(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;w4];a=[a3;a4];figure;subplot(221);h1=plotyy(theta11,y,theta11,sE);axisequal;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(300,0.62,'vE');text(165,0.35,'w3');text(90,0.1,'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,-0.5,'a3');text(100,-0.3,'a2');text(100,0.7,'aE');xlabel('\it\theta1');ylabel('\it\alpha3,\alpha4,aE');G=[theta11;theta3./pi*180;theta4./pi*180;sE;w3;w4;vE;a3;a4;aE]';H=F(1:100:3601)