[原创]

rougar

我要用拉格朗日方程解决动力学问题！ <BR>由matlab对t求导得到Ek如下式子，现在我需要对q（t）和q(t)的导数求导，请问该如何实 <BR>现，谢谢！ <BR>Ek= <BR>1/2*m1*((diff(Xa(t),t)+1/2*L1*sin(thita(t))*diff(thita(t),t))^2+(diff(Ya(t),t) <BR>+1/2*L1*cos(thita(t))*diff(thita(t),t))^2)+1/2*JC1*thita(t)^2+1/2*m2*((diff(Xa <BR>(t),t)-diff(q(t),t)*cos(thita(t))+(L1+1/2*L2+q(t))*sin(thita(t))*diff(thita(t) <BR>,t))^2+(diff(Ya(t),t)+diff(q(t),t)*sin(thita(t))+(L1+1/2*L2+q(t))*cos(thita(t) <BR>)*diff(thita(t),t))^2)+JC2*thita(t)^2+1/2*M*(diff(Ya(t),t)+diff(q(t),t)*sin(th <BR>ita(t))+(L1+L2+q(t))*cos(thita(t))*diff(thita(t),t))^2