无悔四月 发表于 2008-6-2 14:00

哪位大虾帮忙看看这个程序

我这个老是出不来结果！%%%%%%%%%%%%%%%%%%%%%%%%%%基本参数
x1=0;%%%%%%%一杆的初始转角
x2=0;%%%%%%%二杆的初始转角
x3=0;%%%%%%%三杆的初始转角
x4=0;%%%%%%%四杆的初始转角
x5=0;%%%%%%%五杆的初始转角
x6=0;%%%%%%%六杆的初始转角
d1=0.3875;%%%%%%%一杆的长度
d4=0.268;%%%%%%%四杆的长度
d6=0.1655;%%%%%%%六杆的长度
a2=0.230;%%%%%%%二杆的长度
a3=0.107;%%%%%%%三杆的长度
m1=25;%%%%%%%一杆的质量
m2=15.5;%%%%%%%二杆的质量
m3=10.6;%%%%%%%三杆的质量
m4=7.2;%%%%%%%四杆的质量
m5=5.7;%%%%%%%五杆的质量
m6=1.5;%%%%%%%六杆的质量
x1x1=0;x2x2=0;x3x3=0;x4x4=0;x5x5=0;x6x6=0;%%%%%%%%角速度
x1x1x1=0;x2x2x2=0;x3x3x3=0;x4x4x4=0;x5x5x5=0;x6x6x6=0;%%%%%%%角加速度
for n=0:0.1:2
step=0.1;%%%%%%%%%%%%%%%%时间间隔
%%%%%%%%%%%%%%%%%%%%%%%%角度相关参数
c1=cos(x1/(2*pi));
c2=cos(x2/(2*pi));
c3=cos(x3/(2*pi));
c4=cos(x4/(2*pi));
c5=cos(x5/(2*pi));
c6=cos(x6/(2*pi));
s1=sin(x1/(2*pi));
s2=sin(x2/(2*pi));
s3=sin(x3/(2*pi));
s4=sin(x4/(2*pi));
s5=sin(x5/(2*pi));
s6=sin(x6/(2*pi));
%%%%%%%%%%%%%%%%%%%%%%%变换矩阵计算
t1=;
t2=;
t3=;
t4=;
t5=;
t6=;
t=t1*t2*t3*t4*t5*t6;
Qi=;%%%%%%%%%%%%矩阵
%%%%%%%%%%%%%%%%%%%%%%%%偏导数
U11=1*Qi*t1;
U12=0;
U13=0;
U14=0;
U15=0;
U16=0;
U21=1*Qi*t1*t2;
U22=t1*Qi*t2;
U23=0;
U24=0;
U25=0;
U26=0;
U31=1*Qi*t1*t2*t3;
U32=t1*Qi*t2*t3;
U33=t1*t2*Qi*t3;
U34=0;
U35=0;
U36=0;
U41=1*Qi*t1*t2*t3*t4;
U42=t1*Qi*t2*t3*t4;
U43=t1*t2*Qi*t3*t4;
U44=t1*t2*t3*Qi*t4;
U45=0;
U46=0;
U51=1*Qi*t1*t2*t3*t4*t5;
U52=t1*Qi*t2*t3*t4*t5;
U53=t1*t2*Qi*t3*t4*t5;
U54=t1*t2*t3*Qi*t4*t5;
U55=t1*t2*t3*t4*Qi*t5;
U56=0;
U61=1*Qi*t1*t2*t3*t4*t5*t6;
U62=t1*Qi*t2*t3*t4*t5*t6;
U63=t1*t2*Qi*t3*t4*t5*t6;
U64=t1*t2*t3*Qi*t4*t5*t6;
U65=t1*t2*t3*t4*Qi*t5*t6;
U66=t1*t2*t3*t4*t5*Qi*t6;
%%%%%%%%%%%%%%%%%%%%%%%%%%%伪惯量矩阵
I1=[(-d1^2*m1+d1^2*m1+0)/2 0 0 0;0 (d1^2*m1-d1^2*m1+0)/2 0 0;0 0 (d1^2*m1+d1^2*m1-0)/2 m1*d1;0 0 m1*d1 m1];
I2=[(-((a2*cos(x2))^2+(a2*sin(x2))^2)*m2+(a2*sin(x2))^2*m2+(a2*cos(x2))^2*m2)/2 0 0 0;
0 (((a2*cos(x2))^2+(a2*sin(x2))^2)*m2-(a2*sin(x2))^2*m2+(a2*cos(x2))^2*m2)/2 -a2*cos(x2)*a2*sin(x2) m2*a2*cos(x2);
0 -a2*cos(x2)*a2*sin(x2) (((a2*cos(x2))^2+(a2*sin(x2)^2)*m2+(a2*sin(x2))^2*m2-(a2*cos(x2))^2*m2))/2 a2*sin(x2)*m2;
0 a2*cos(x2)*m2 a2*sin(x2)*m2 m2];
I3=[(-((a3*cos(x3))^2+(a3*sin(x3))^2)*m3+(a3*sin(x3))^2*m3+(a3*cos(x3))^2*m3)/2 0 0 0;
0 (((a3*cos(x3))^2+(a3*sin(x3))^2)*m3-(a3*sin(x3))^2*m3+(a3*cos(x3))^2*m3)/2 -a3*cos(x3)*a3*sin(x3) m3*a3*cos(x3);
0 -a3*cos(x3)*a3*sin(x3) (((a3*cos(x3))^2+(a3*sin(x3)^2)*m3+(a3*sin(x3))^2*m3-(a3*cos(x3))^2*m3))/2 a3*sin(x3)*m3;
0 a3*cos(x3)*m3 a3*sin(x3)*m3 m3];
I4=[(-d4^2*m4+0+d4^2*m4)/2 0 0 0;0 (d4^2*m4-0+d4^2*m4)/2 0 m4*d4;0 0 (d4^2*m4+0-d4^2*m4)/2 0;0 m4*d4 0 m4];
I5=;
I6=[(-d6^2*m6+d6^2*m6+0)/2 0 0 0;0 (d6^2*m6-d6^2*m6+0)/2 0 0;0 0 (d6^2*m6+d6^2*m6-0)/2 m6*d6;0 0 m6*d6 m6];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%加速度相关的对称矩阵
D11=trace(U11*I1*U11')+trace(U21*I2*U21')+trace(U31*I3*U31')+trace(U41*I4*U41')+trace(U51*I5*U51')+trace(U61*I6*U61');
D12=trace(U22*I2*U21')+trace(U32*I3*U31')+trace(U42*I4*U41')+trace(U52*I5*U51')+trace(U62*I6*U61');
D13=trace(U33*I3*U31')+trace(U43*I4*U41')+trace(U53*I5*U53')+trace(U63*I6*U63');
D14=trace(U44*I4*U41')+trace(U54*I5*U51')+trace(U64*I6*U61');
D15=trace(U55*I5*U51')+trace(U65*I6*U61');
D16=trace(U66*I6*U61');
D22=trace(U22*I2*U22')+trace(U32*I3*U32')+trace(U42*I4*U42')+trace(U52*I5*U52')+trace(U62*I6*U62');
D23=trace(U33*I3*U32')+trace(U43*I4*U42')+trace(U53*I5*U52')+trace(U63*I6*U62');
D24=trace(U44*I4*U42')+trace(U54*I5*U52')+trace(U64*I6*U62');
D25=trace(U55*I5*U52')+trace(U65*I6*U62');
D26=trace(U66*I6*U62');
D33=trace(U33*I3*U33')+trace(U43*I4*U43')+trace(U53*I5*U53')+trace(U63*I6*U63');
D34=trace(U44*I4*U43')+trace(U54*I5*U53')+trace(U64*I6*U63');
D35=trace(U55*I5*U53')+trace(U65*I6*U63');
D36=trace(U66*I6*U63');
D44=trace(U44*I4*U44')+trace(U54*I5*U54')+trace(U64*I6*U64');
D45=trace(U55*I5*U54')+trace(U65*I6*U64');
D46=trace(U66*I6*U64');
D55=trace(U55*I5*U55')+trace(U65*I6*U65');
D56=trace(U66*I6*U65');
D66=trace(U66*I6*U66');
D=[D11 D12 D13 D14 D15 D16;D12 D22 D23 D24 D25 D26;D13 D23 D33 D34 D35 D36;
D14 D24 D34 D44 D45 D46;D24 34 35 D45 D55 D56;D14 D24 D34 D46 D56 D66];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%科氏力和向心力项
h111=trace((U11*I1*U11)')+trace((U11*I2*U12)')+trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
h112=trace((U11*I2*U12)')+trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
h113=trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
h114=trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
h115=trace((U11*I5*U15)')+trace((U11*I6*U16)');
h116=trace((U11*I6*U16)');
h121=trace((U12*I2*U12)')+trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
h122=trace((U12*I2*U12)')+trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
h123=trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
h124=trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
h125=trace((U12*I5*U15)')+trace((U12*I6*U16)');
h126=trace((U12*I6*U16)');
h131=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
h132=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
h133=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
h134=trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
h135=trace((U13*I5*U15)')+trace((U13*I6*U16)');
h136=trace((U13*I6*U16)');
h141=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
h142=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
h143=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
h144=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
h145=trace((U14*I5*U15)')+trace((U14*I6*U16)');
h146=trace((U14*I6*U16)');
h151=trace((U15*I5*U15)')+trace((U15*I6*U16)');
h152=trace((U15*I5*U15)')+trace((U15*I6*U16)');
h153=trace((U15*I5*U15)')+trace((U15*I6*U16)');
h154=trace((U15*I5*U15)')+trace((U15*I6*U16)');
h155=trace((U15*I5*U15)')+trace((U15*I6*U16)');
h156=trace((U15*I6*U16)');
h161=trace((U16*I6*U16)');
h162=trace((U16*I6*U16)');
h163=trace((U16*I6*U16)');
h164=trace((U16*I6*U16)');
h165=trace((U16*I6*U16)');
h166=trace((U16*I6*U16)');
%%%%%%%%%%%%%%%%%%%%%%
h211=trace((U21*I2*U22)')+trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
h212=trace((U21*I2*U22)')+trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
h213=trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
h214=trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
h215=trace((U21*I5*U25)')+trace((U21*I6*U26)');
h216=trace((U21*I6*U26)');
h221=trace((U22*I2*U22)')+trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
h222=trace((U22*I2*U22)')+trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U15)')+trace((U22*I6*U26)');
h223=trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
h224=trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
h225=trace((U22*I5*U25)')+trace((U22*I6*U26)');
h226=trace((U22*I6*U26)');
h231=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
h232=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
h233=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
h234=trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
h235=trace((U23*I5*U25)')+trace((U23*I6*U26)');
h236=trace((U23*I6*U26)');
h241=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
h242=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
h243=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
h244=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
h245=trace((U24*I5*U25)')+trace((U24*I6*U26)');
h246=trace((U24*I6*U26)');
h251=trace((U25*I5*U25)')+trace((U25*I6*U26)');
h252=trace((U25*I5*U25)')+trace((U25*I6*U26)');
h253=trace((U25*I5*U25)')+trace((U25*I6*U26)');
h254=trace((U25*I5*U25)')+trace((U25*I6*U26)');
h255=trace((U25*I5*U25)')+trace((U25*I6*U26)');
h256=trace((U25*I6*U26)');
h261=trace((U26*I6*U26)');
h262=trace((U26*I6*U26)');
h263=trace((U26*I6*U26)');
h264=trace((U26*I6*U26)');
h265=trace((U26*I6*U26)');
h266=trace((U26*I6*U26)');
%%%%%%%%%%%%%%%%%%%%%%%%
h311=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
h312=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
h313=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
h314=trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
h315=trace((U31*I5*U35)')+trace((U31*I6*U36)');
h316=trace((U31*I6*U36)');
h321=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
h322=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
h323=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
h324=trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
h325=trace((U32*I5*U35)')+trace((U32*I6*U36)');
h326=trace((U32*I6*U36)');
h331=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
h332=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
h333=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
h334=trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
h335=trace((U33*I5*U35)')+trace((U33*I6*U36)');
h336=trace((U33*I6*U36)');
h341=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
h342=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
h343=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
h344=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
h345=trace((U34*I5*U35)')+trace((U34*I6*U36)');
h346=trace((U34*I6*U36)');
h351=trace((U35*I5*U35)')+trace((U35*I6*U36)');
h352=trace((U35*I5*U35)')+trace((U35*I6*U36)');
h353=trace((U35*I5*U35)')+trace((U35*I6*U36)');
h354=trace((U35*I5*U35)')+trace((U35*I6*U36)');
h355=trace((U35*I5*U35)')+trace((U35*I6*U36)');
h356=trace((U35*I6*U36)');
h361=trace((U36*I6*U36)');
h362=trace((U36*I6*U36)');
h363=trace((U36*I6*U36)');
h364=trace((U36*I6*U36)');
h365=trace((U36*I6*U36)');
h366=trace((U36*I6*U36)');
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
h411=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
h412=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
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h415=trace((U41*I5*U45)')+trace((U41*I6*U46)');
h416=trace((U41*I6*U46)');
h421=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
h422=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
h423=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
h424=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
h425=trace((U42*I5*U45)')+trace((U42*I6*U46)');
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h443=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
h444=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
h445=trace((U44*I5*U45)')+trace((U44*I6*U46)');
h446=trace((U44*I6*U46)');
h451=trace((U45*I5*U45)')+trace((U45*I6*U46)');
h452=trace((U45*I5*U45)')+trace((U45*I6*U46)');
h453=trace((U45*I5*U45)')+trace((U45*I6*U46)');
h454=trace((U45*I5*U45)')+trace((U45*I6*U46)');
h455=trace((U45*I5*U45)')+trace((U45*I6*U46)');
h456=trace((U45*I6*U46)');
h461=trace((U46*I6*U46)');
h462=trace((U46*I6*U46)');
h463=trace((U46*I6*U46)');
h464=trace((U46*I6*U46)');
h465=trace((U46*I6*U46)');
h466=trace((U46*I6*U46)');
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
h511=trace((U51*I5*U55)')+trace((U51*I6*U56)');
h512=trace((U51*I5*U55)')+trace((U51*I6*U56)');
h513=trace((U51*I5*U55)')+trace((U51*I6*U56)');
h514=trace((U51*I5*U55)')+trace((U51*I6*U56)');
h515=trace((U51*I5*U55)')+trace((U51*I6*U56)');
h516=trace((U51*I6*U56)');
h521=trace((U52*I5*U55)')+trace((U52*I6*U56)');
h522=trace((U52*I5*U55)')+trace((U52*I6*U56)');
h523=trace((U52*I5*U55)')+trace((U52*I6*U56)');
h524=trace((U52*I5*U55)')+trace((U52*I6*U56)');
h525=trace((U52*I5*U55)')+trace((U52*I6*U56)');
h526=trace((U52*I6*U56)');
h531=trace((U53*I5*U55)')+trace((U53*I6*U56)');
h532=trace((U53*I5*U55)')+trace((U53*I6*U56)');
h533=trace((U53*I5*U55)')+trace((U53*I6*U56)');
h534=trace((U53*I5*U55)')+trace((U53*I6*U56)');
h535=trace((U53*I5*U55)')+trace((U53*I6*U56)');
h536=trace((U53*I6*U56)');
h541=trace((U54*I5*U55)')+trace((U54*I6*U56)');
h542=trace((U54*I5*U55)')+trace((U54*I6*U56)');
h543=trace((U54*I5*U55)')+trace((U54*I6*U56)');
h544=trace((U54*I5*U55)')+trace((U54*I6*U56)');
h545=trace((U54*I5*U55)')+trace((U54*I6*U56)');
h546=trace((U54*I6*U56)');
h551=trace((U55*I5*U55)')+trace((U55*I6*U56)');
h552=trace((U55*I5*U55)')+trace((U55*I6*U56)');
h553=trace((U55*I5*U55)')+trace((U55*I6*U56)');
h554=trace((U55*I5*U55)')+trace((U55*I6*U56)');
h555=trace((U55*I5*U55)')+trace((U55*I6*U56)');
h556=trace((U55*I6*U56)');
h561=trace((U56*I6*U56)');
h562=trace((U56*I6*U56)');
h563=trace((U56*I6*U56)');
h564=trace((U56*I6*U46)');
h565=trace((U56*I6*U56)');
h566=trace((U56*I6*U56)');
%%%%%%%%%%%%%%%%%%%%%%%%%%
h611=trace((U61*I6*U66)');
h612=trace((U61*I6*U66)');
h613=trace((U61*I6*U66)');
h614=trace((U61*I6*U66)');
h615=trace((U61*I6*U66)');
h616=trace((U61*I6*U66)');
h621=trace((U62*I6*U66)');
h622=trace((U62*I6*U66)');
h623=trace((U62*I6*U66)');
h624=trace((U62*I6*U66)');
h625=trace((U62*I6*U66)');
h626=trace((U62*I6*U66)');
h631=trace((U63*I6*U66)');
h632=trace((U63*I6*U66)');
h633=trace((U63*I6*U66)');
h634=trace((U63*I6*U66)');
h635=trace((U63*I6*U66)');
h636=trace((U63*I6*U66)');
h641=trace((U64*I6*U66)');
h642=trace((U64*I6*U66)');
h643=trace((U64*I6*U66)');
h644=trace((U64*I6*U66)');
h645=trace((U64*I6*U66)');
h646=trace((U64*I6*U66)');
h651=trace((U65*I6*U66)');
h652=trace((U65*I6*U66)');
h653=trace((U65*I6*U66)');
h654=trace((U65*I6*U66)');
h655=trace((U65*I6*U66)');
h656=trace((U65*I6*U66)');
h661=trace((U66*I6*U66)');
h662=trace((U66*I6*U66)');
h663=trace((U66*I6*U66)');
h664=trace((U66*I6*U66)');
h665=trace((U66*I6*U66)');
h666=trace((U66*I6*U66)');
h1=[h111 h112 h113 h114 h115 h116;h112 h122 h123 h124 h125 h126;h113 h123 h133 h134 h135 h136;
h114 h124 h134 h144 h145 h146;h115 h125 h135 h145 h155 h156;h116 h126 h136 h146 h156 h166];
h2=[h211 h212 h213 h214 h215 h216;h212 h222 h223 h224 h225 h226;h213 h223 h233 h234 h235 h236;
h214 h224 h234 h244 h245 h246;h215 h225 h235 h245 h255 h256;h216 h226 h236 h246 h256 h266];
h3=[h311 h312 h313 h314 h315 h316;h312 h322 h323 h324 h325 h326;h313 h323 h333 h334 h335 h336;
h314 h324 h334 h344 h345 h346;h315 h325 h335 h345 h355 h356;h316 h326 h336 h346 h356 h366];
h4=[h411 h412 h413 h414 h415 h416;h412 h422 h423 h424 h425 h426;h413 h423 h433 h434 h435 h436;
h414 h424 h434 h444 h445 h446;h415 h425 h435 h445 h455 h456;h416 h426 h436 h446 h456 h466];
h5=[h511 h512 h513 h514 h515 h516;h512 h522 h523 h524 h525 h526;h513 h523 h533 h534 h535 h536;
h514 h524 h534 h544 h545 h546;h515 h525 h535 h545 h555 h556;h516 h526 h536 h546 h556 h566];
h6=[h611 h612 h613 h614 h615 h616;h612 h622 h623 h624 h625 h626;h613 h623 h633 h634 h635 h636;
h614 h624 h634 h644 h645 h646;h615 h625 h635 h645 h655 h656;h616 h626 h636 h646 h656 h666];
%;H=
H=
%%%%%%%%%%%%%%%%%%%%重力项
g=;
r1=;
r2=;
r3=;
r4=;
r5=;
r6=;
R=;
c1=-(m1*g*U11*r1+m2*g*U21*r2+m3*g*U31*r3+m4*g*U41*r4+m5*g*U51*r5+m6*g*U61*r6);
c2=-(m2*g*U22*r2+m3*g*U32*r3+m4*g*U42*r4+m5*g*U52*r5+m6*g*U62*r6);
c3=-(m3*g*U33*r3+m4*g*U43*r4+m5*g*U53*r5+m6*g*U63*r6);
c4=-(m4*g*U44*r4+m5*g*U54*r5+m6*g*U64*r6);
c5=-(m5*g*U55*r5+m6*g*U66*r6);
c6=-m6*g*U66*r6;
C=';
%%%%%%%%%%%%%%%%%%%%以下是输入转矩函数T的分量（各电机的转矩）
T1=2.84*sin(n/6+pi/2)
T2=2.39*sin(n/6+pi/2)
T3=1.35*sin(n/6+pi/2)
T4=0.72*sin(n/6+pi/2)
T5=0.317*sin(n/6+pi/2)
T6=0.317*sin(n/6+pi/2)
%%%%%%%%%%%%%%%%%%%%%%%%以下是电机的转矩函数T
T=;
%%%%%%%%%Y表示变量
W=';%%%初始参数
WW=';%%%一阶导
WWW=';%%%上一时间的二阶导
Q2=inv(D)*(T-h3*WW-C.*W)

W1=inv(h3+(1/(step*step))*D)*(T-C+D*((1/(step*step))*W+1/step.*WW-(1/2)*WWW));
WWW1=1/(step*step)*(W1-W)-1/step.*WW+(1/2)*WWW;
WW1=WW+step.*WWW1;
x1=W1(1,1);x2=W1(2,1);x3=W1(3,1);x4=W1(4,1);x5=W1(5,1);x6=W1(6,1);
x1x1=WW1(1,1);x2x2=WW1(2,1);x3x3=WW1(3,1);x4x4=WW1(4,1);x5x5=WW1(5,1);x6x6=WW1(6,1);
x1x1x1=WWW1(1,1);x2x2x2=WWW1(2,1);x3x3x3=WWW1(3,1);x4x4x4=WWW1(4,1);x5x5x5=WWW(5,1);x6x6x6=WWW1(6,1);
hold on
%%%%%%%%%%%%以下作出电机的输入图
plot(n,Q2)

end

[ 本帖最后由 sigma665 于 2008-6-2 21:06 编辑 ]

无悔四月 发表于 2008-6-2 14:01

麻烦帮忙找错，我是MATLAB菜鸟啊！

无悔四月 发表于 2008-6-2 16:27

为什么所有数结果都变成了NaN

sigma665 发表于 2008-6-2 18:00

回复 3楼 的帖子

请注意你的求助技巧
一句话，一个附件
别人都懒得去下载你的附件
而你又只有一句话

求助的时候要考虑尽量的方便别人

无悔四月 发表于 2008-6-2 20:25

谢谢提醒，请问能否帮忙看看？
这是一个关于六连杆机器人的动力学仿真的

sjdwjt 发表于 2008-6-3 15:24

你这程序做的也太。。。。。我想没人乐意看，头大啊，明明可以简化，写这么多，晕啊:@o
页: [1]
查看完整版本: 哪位大虾帮忙看看这个程序