cylin3.m

有用的动态仿真技术

function cylin
clc
[t,Y] = ode45(@equ,[0 .2],[0 0 0 0 1.57 0 2000]);

subplot(3,2,1);
plot(t,Y(:,7))
grid;

subplot(3,2,3);
plot(t,Y(:,1))
grid;
subplot(3,2,4);
plot(t,Y(:,2))
grid;

subplot(3,2,5);
plot(t,Y(:,3))
grid;
subplot(3,2,6);
plot(t,Y(:,4))
grid;

function dy = equ(t,y)
dy = zeros(7,1);

g=9.81;
r0=0.5;
b=0.0005;
T=1000;
I0 =500;
mu=0.1;
rho=5;
ro=2;
h=10.926;

%f = (sign((r0 + b*y(7))*y(4)-y(2))*mu*(y(7)*g-T*sin(y(5))));
%l = (y(1)^2 + h^2)^0.5;
%ld = (y(1)*y(2)/(y(1)^2 + h^2)^0.5);
%r = (r0 + b*y(7));
%rd = b*dy(7);
%I = (I0 + 0.5*y(7)*((r0 + b*y(7))^2 - r0^2));
%Id = (y(7)*(r0 + b*y(7))*b*dy(7) + 0.5*dy(7)*(r0 + b*y(7))^2);

dy(1) = y(2);
dy(2) = (T*cos(y(5)) + (sign((r0 + b*y(7))*y(4)-y(2))*mu*(y(7)*g-T*sin(y(5)))) - dy(7)*y(2))/y(7);

dy(3) = y(4);
dy(4) = (T*(r0 + b*y(7)) - (sign((r0 + b*y(7))*y(4)-y(2))*mu*(y(7)*g-T*sin(y(5))))*ro - (y(7)*(r0 + b*y(7))*b*dy(7) + 0.5*dy(7)*(r0 + b*y(7))^2)*y(4))/(I0 + 0.5*y(7)*((r0 + b*y(7))^2 - r0^2));

dy(5) = y(6);
dy(6) = (12*((sign((r0 + b*y(7))*y(4)-y(2))*mu*(y(7)*g-T*sin(y(5))))*sin(y(5)) + rho*g*(y(1)^2 + h^2)^0.5*((r0 + b*y(7))*sin(y(5)) - (y(1)^2 + h^2)^0.5/2*cos(y(5))))/((y(1)^2 + h^2)*rho) - 3*(y(1)*y(2)/(y(1)^2 + h^2)^0.5)*y(6))/(y(1)^2 + h^2)^0.5;

dy(7) = -(r0 + b*y(7))*y(4);