fz1.m

对超声电机摩擦驱动的仿真

function f=f(xr)
Fn=135;
br=0.002;
hr=0.0005;
Er=5*10^8;
kr=Er*br/hr;
n=9;
e0=0.8;
Ap=n*e0;
R=0.03;
Rav=0.95*R;
rumda=2*pi*Rav/n;
k=2*pi/rumda;
ud=0.12;
Ft=ud*Fn;
x0=fzero('fz',1);
f=Ft-ud*Fn*(2*(sin(k*xr)-k*xr*cos(k*xr))-(sin(k*x0)-k*x0*cos(k*x0)))/(sin(k*x0)-k*x0*cos(k*x0));