model.src

一种求解目标函数最小化的MATLAB仿真程序.

f1[32,1]:=((((((b[32,11]*e[32])*(e[11]*sin((th[31]-th[10]))))+((cos((th[31]-th[10]))*e[11])*(e[32]*g[32,11])))+(e[32]*
(e[32]*g[32,32])))+(((b[32,94]*e[32])*(e[94]*sin((th[31]-th[93]))))+((cos((th[31]-th[93]))*e[94])*(e[32]*
g[32,94]))))-p[32]):

f1[33,1]:=(((e[33]*(e[33]*g[33,33]))+(((b[33,94]*e[33])*(e[94]*sin((th[32]-th[93]))))+((cos((th[32]-th[93]))*e[94])*
(e[33]*g[33,94]))))-p[33]):

f1[34,1]:=((((((b[34,31]*e[34])*(e[31]*sin((th[33]-th[30]))))+((cos((th[33]-th[30]))*e[31])*(e[34]*g[34,31])))+(e[34]*
(e[34]*g[34,34])))+(((b[34,95]*e[34])*(e[95]*sin((th[33]-th[94]))))+((cos((th[33]-th[94]))*e[95])*(e[34]*
g[34,95]))))-p[34]):

f1[35,1]:=((((e[35]*(e[35]*g[35,35]))+(((b[35,36]*e[35])*(e[36]*sin((th[34]-th[35]))))+((cos((th[34]-th[35]))*e[36])*
(e[35]*g[35,36]))))+(((b[35,118]*e[35])*(e[118]*sin((th[34]-th[117]))))+((cos((th[34]-th[117]))*e[118])*(e[35]*
g[35,118]))))-p[35]):

f1[36,1]:=((((((((((b[36,1]*e[36])*(e[1]*sin(th[35])))+((cos(th[35])*e[1])*(e[36]*g[36,1])))+(((b[36,35]*e[36])*(e[35]*
sin((th[35]-th[34]))))+((cos((th[35]-th[34]))*e[35])*(e[36]*g[36,35]))))+(e[36]*(e[36]*g[36,36])))+(((b[36,37]*
e[36])*(e[37]*sin((th[35]-th[36]))))+((cos((th[35]-th[36]))*e[37])*(e[36]*g[36,37]))))+(((b[36,95]*e[36])*
(e[95]*sin((th[35]-th[94]))))+((cos((th[35]-th[94]))*e[95])*(e[36]*g[36,95]))))+(((b[36,96]*e[36])*(e[96]*
sin((th[35]-th[95]))))+((cos((th[35]-th[95]))*e[96])*(e[36]*g[36,96]))))+(((b[36,99]*e[36])*(e[99]*sin((th[35]-
th[98]))))+((cos((th[35]-th[98]))*e[99])*(e[36]*g[36,99]))))-p[36]):

f1[37,1]:=(((((((((((b[37,36]*e[37])*(e[36]*sin((th[36]-th[35]))))+((cos((th[36]-th[35]))*e[36])*(e[37]*g[37,36])))+(e[37]*
(e[37]*g[37,37])))+(((b[37,44]*e[37])*(e[44]*sin((th[36]-th[43]))))+((cos((th[36]-th[43]))*e[44])*(e[37]*
g[37,44]))))+(((b[37,97]*e[37])*(e[97]*sin((th[36]-th[96]))))+((cos((th[36]-th[96]))*e[97])*(e[37]*g[37,97]))))+
(((b[37,98]*e[37])*(e[98]*sin((th[36]-th[97]))))+((cos((th[36]-th[97]))*e[98])*(e[37]*g[37,98]))))+(((b[37,107]*
e[37])*(e[107]*sin((th[36]-th[106]))))+((cos((th[36]-th[106]))*e[107])*(e[37]*g[37,107]))))+(((b[37,108]*e[37])*
(e[108]*sin((th[36]-th[107]))))+((cos((th[36]-th[107]))*e[108])*(e[37]*g[37,108]))))+(((b[37,109]*e[37])*(e[109]*
sin((th[36]-th[108]))))+((cos((th[36]-th[108]))*e[109])*(e[37]*g[37,109]))))-p[37]):

f1[38,1]:=(((((((e[38]*(e[38]*g[38,38]))+(((b[38,40]*e[38])*(e[40]*sin((th[37]-th[39]))))+((cos((th[37]-th[39]))*e[40])*
(e[38]*g[38,40]))))+(((b[38,100]*e[38])*(e[100]*sin((th[37]-th[99]))))+((cos((th[37]-th[99]))*e[100])*(e[38]*
g[38,100]))))+(((b[38,101]*e[38])*(e[101]*sin((th[37]-th[100]))))+((cos((th[37]-th[100]))*e[101])*(e[38]*g[38,101]))))+
(((b[38,102]*e[38])*(e[102]*sin((th[37]-th[101]))))+((cos((th[37]-th[101]))*e[102])*(e[38]*g[38,102]))))+(((b[38,103]*
e[38])*(e[103]*sin((th[37]-th[102]))))+((cos((th[37]-th[102]))*e[103])*(e[38]*g[38,103]))))-p[38]):

f1[39,1]:=(((e[39]*(e[39]*g[39,39]))+(((b[39,102]*e[39])*(e[102]*sin((th[38]-th[101]))))+((cos((th[38]-th[101]))*e[102])*
(e[39]*g[39,102]))))-p[39]):

f1[40,1]:=((((((((b[40,38]*e[40])*(e[38]*sin((th[39]-th[37]))))+((cos((th[39]-th[37]))*e[38])*(e[40]*g[40,38])))+(e[40]*
(e[40]*g[40,40])))+(((b[40,41]*e[40])*(e[41]*sin((th[39]-th[40]))))+((cos((th[39]-th[40]))*e[41])*(e[40]*
g[40,41]))))+(((b[40,43]*e[40])*(e[43]*sin((th[39]-th[42]))))+((cos((th[39]-th[42]))*e[43])*(e[40]*g[40,43]))))+
(((b[40,103]*e[40])*(e[103]*sin((th[39]-th[102]))))+((cos((th[39]-th[102]))*e[103])*(e[40]*g[40,103]))))-p[40]):

f1[41,1]:=((((((b[41,40]*e[41])*(e[40]*sin((th[40]-th[39]))))+((cos((th[40]-th[39]))*e[40])*(e[41]*g[41,40])))+(e[41]*
(e[41]*g[41,41])))+(((b[41,42]*e[41])*(e[42]*sin((th[40]-th[41]))))+((cos((th[40]-th[41]))*e[42])*(e[41]*
g[41,42]))))-p[41]):

f1[42,1]:=((((((b[42,41]*e[42])*(e[41]*sin((th[41]-th[40]))))+((cos((th[41]-th[40]))*e[41])*(e[42]*g[42,41])))+(e[42]*
(e[42]*g[42,42])))+(((b[42,43]*e[42])*(e[43]*sin((th[41]-th[42]))))+((cos((th[41]-th[42]))*e[43])*(e[42]*
g[42,43]))))-p[42]):

f1[43,1]:=((((((((((b[43,40]*e[43])*(e[40]*sin((th[42]-th[39]))))+((cos((th[42]-th[39]))*e[40])*(e[43]*g[43,40])))+(((b[43,42]*
e[43])*(e[42]*sin((th[42]-th[41]))))+((cos((th[42]-th[41]))*e[42])*(e[43]*g[43,42]))))+(e[43]*(e[43]*
g[43,43])))+(((b[43,45]*e[43])*(e[45]*sin((th[42]-th[44]))))+((cos((th[42]-th[44]))*e[45])*(e[43]*g[43,45]))))+
(((b[43,104]*e[43])*(e[104]*sin((th[42]-th[103]))))+((cos((th[42]-th[103]))*e[104])*(e[43]*g[43,104]))))+(((b[43,105]*
e[43])*(e[105]*sin((th[42]-th[104]))))+((cos((th[42]-th[104]))*e[105])*(e[43]*g[43,105]))))+(((b[43,111]*e[43])*
(e[111]*sin((th[42]-th[110]))))+((cos((th[42]-th[110]))*e[111])*(e[43]*g[43,111]))))-p[43]):

f1[44,1]:=((((((b[44,37]*e[44])*(e[37]*sin((th[43]-th[36]))))+((cos((th[43]-th[36]))*e[37])*(e[44]*g[44,37])))+(e[44]*
(e[44]*g[44,44])))+(((b[44,45]*e[44])*(e[45]*sin((th[43]-th[44]))))+((cos((th[43]-th[44]))*e[45])*(e[44]*
g[44,45]))))-p[44]):

f1[45,1]:=((((((((((((b[45,43]*e[45])*(e[43]*sin((th[44]-th[42]))))+((cos((th[44]-th[42]))*e[43])*(e[45]*g[45,43])))+(((b[45,44]*
e[45])*(e[44]*sin((th[44]-th[43]))))+((cos((th[44]-th[43]))*e[44])*(e[45]*g[45,44]))))+(e[45]*(e[45]*
g[45,45])))+(((b[45,46]*e[45])*(e[46]*sin((th[44]-th[45]))))+((cos((th[44]-th[45]))*e[46])*(e[45]*g[45,46]))))+
(((b[45,47]*e[45])*(e[47]*sin((th[44]-th[46]))))+((cos((th[44]-th[46]))*e[47])*(e[45]*g[45,47]))))+(((b[45,105]*
e[45])*(e[105]*sin((th[44]-th[104]))))+((cos((th[44]-th[104]))*e[105])*(e[45]*g[45,105]))))+(((b[45,109]*e[45])*
(e[109]*sin((th[44]-th[108]))))+((cos((th[44]-th[108]))*e[109])*(e[45]*g[45,109]))))+(((b[45,110]*e[45])*(e[110]*
sin((th[44]-th[109]))))+((cos((th[44]-th[109]))*e[110])*(e[45]*g[45,110]))))+(((b[45,112]*e[45])*(e[112]*sin((th[44]-
th[111]))))+((cos((th[44]-th[111]))*e[112])*(e[45]*g[45,112]))))-p[45]):

f1[46,1]:=((((((((b[46,45]*e[46])*(e[45]*sin((th[45]-th[44]))))+((cos((th[45]-th[44]))*e[45])*(e[46]*g[46,45])))+(e[46]*
(e[46]*g[46,46])))+(((b[46,47]*e[46])*(e[47]*sin((th[45]-th[46]))))+((cos((th[45]-th[46]))*e[47])*(e[46]*
g[46,47]))))+(((b[46,48]*e[46])*(e[48]*sin((th[45]-th[47]))))+((cos((th[45]-th[47]))*e[48])*(e[46]*g[46,48]))))+
(((b[46,50]*e[46])*(e[50]*sin((th[45]-th[49]))))+((cos((th[45]-th[49]))*e[50])*(e[46]*g[46,50]))))-p[46]):

f1[47,1]:=(((((((b[47,45]*e[47])*(e[45]*sin((th[46]-th[44]))))+((cos((th[46]-th[44]))*e[45])*(e[47]*g[47,45])))+(((b[47,46]*
e[47])*(e[46]*sin((th[46]-th[45]))))+((cos((th[46]-th[45]))*e[46])*(e[47]*g[47,46]))))+(e[47]*(e[47]*
g[47,47])))+(((b[47,48]*e[47])*(e[48]*sin((th[46]-th[47]))))+((cos((th[46]-th[47]))*e[48])*(e[47]*g[47,48]))))-
p[47]):

f1[48,1]:=(((((((((b[48,46]*e[48])*(e[46]*sin((th[47]-th[45]))))+((cos((th[47]-th[45]))*e[46])*(e[48]*g[48,46])))+(((b[48,47]*
e[48])*(e[47]*sin((th[47]-th[46]))))+((cos((th[47]-th[46]))*e[47])*(e[48]*g[48,47]))))+(e[48]*(e[48]*
g[48,48])))+(((b[48,49]*e[48])*(e[49]*sin((th[47]-th[48]))))+((cos((th[47]-th[48]))*e[49])*(e[48]*g[48,49]))))+
(((b[48,112]*e[48])*(e[112]*sin((th[47]-th[111]))))+((cos((th[47]-th[111]))*e[112])*(e[48]*g[48,112]))))+(((b[48,113]*
e[48])*(e[113]*sin((th[47]-th[112]))))+((cos((th[47]-th[112]))*e[113])*(e[48]*g[48,113]))))-p[48]):

f1[49,1]:=((((((b[49,48]*e[49])*(e[48]*sin((th[48]-th[47]))))+((cos((th[48]-th[47]))*e[48])*(e[49]*g[49,48])))+(e[49]*
(e[49]*g[49,49])))+(((b[49,112]*e[49])*(e[112]*sin((th[48]-th[111]))))+((cos((th[48]-th[111]))*e[112])*(e[49]*
g[49,112]))))-p[49]):

f1[50,1]:=((((((((b[50,46]*e[50])*(e[46]*sin((th[49]-th[45]))))+((cos((th[49]-th[45]))*e[46])*(e[50]*g[50,46])))+(e[50]*
(e[50]*g[50,50])))+(((b[50,51]*e[50])*(e[51]*sin((th[49]-th[50]))))+((cos((th[49]-th[50]))*e[51])*(e[50]*
g[50,51]))))+(((b[50,52]*e[50])*(e[52]*sin((th[49]-th[51]))))+((cos((th[49]-th[51]))*e[52])*(e[50]*g[50,52]))))+
(((b[50,114]*e[50])*(e[114]*sin((th[49]-th[113]))))+((cos((th[49]-th[113]))*e[114])*(e[50]*g[50,114]))))-p[50]):

f1[51,1]:=(((((b[51,50]*e[51])*(e[50]*sin((th[50]-th[49]))))+((cos((th[50]-th[49]))*e[50])*(e[51]*g[51,50])))+(e[51]*
(e[51]*g[51,51])))-p[51]):

f1[52,1]:=(((((b[52,50]*e[52])*(e[50]*sin((th[51]-th[49]))))+((cos((th[51]-th[49]))*e[50])*(e[52]*g[52,50])))+(e[52]*
(e[52]*g[52,52])))-p[52]):

f1[53,1]:=((((((b[53,16]*e[53])*(e[16]*sin((th[52]-th[15]))))+((cos((th[52]-th[15]))*e[16])*(e[53]*g[53,16])))+(e[53]*
(e[53]*g[53,53])))+(((b[53,64]*e[53])*(e[64]*sin((th[52]-th[63]))))+((cos((th[52]-th[63]))*e[64])*(e[53]*
g[53,64]))))-p[53]):

f1[54,1]:=(((e[54]*(e[54]*g[54,54]))+(((b[54,93]*e[54])*(e[93]*sin((th[53]-th[92]))))+((cos((th[53]-th[92]))*e[93])*
(e[54]*g[54,93]))))-p[54]):

f1[55,1]:=((((((b[55,2]*e[55])*(e[2]*sin((th[54]-th[1]))))+((cos((th[54]-th[1]))*e[2])*(e[55]*g[55,2])))+(((b[55,7]*
e[55])*(e[7]*sin((th[54]-th[6]))))+((cos((th[54]-th[6]))*e[7])*(e[55]*g[55,7]))))+(e[55]*(e[55]*
g[55,55])))-p[55]):

f2[1,1]:=((((((g[55,2]*e[55])*(e[2]*sin((th[54]-th[1]))))-((cos((th[54]-th[1]))*e[2])*(e[55]*b[55,2])))+(((g[55,7]*
e[55])*(e[7]*sin((th[54]-th[6]))))-((cos((th[54]-th[6]))*e[7])*(e[55]*b[55,7]))))+(0-(e[55]*
(e[55]*b[55,55]))))-q[55]):

f1[56,1]:=(((((((b[56,2]*e[56])*(e[2]*sin((th[55]-th[1]))))+((cos((th[55]-th[1]))*e[2])*(e[56]*g[56,2])))+(((b[56,7]*
e[56])*(e[7]*sin((th[55]-th[6]))))+((cos((th[55]-th[6]))*e[7])*(e[56]*g[56,7]))))+(e[56]*(e[56]*
g[56,56])))+(((b[56,57]*e[56])*(e[57]*sin((th[55]-th[56]))))+((cos((th[55]-th[56]))*e[57])*(e[56]*g[56,57]))))-
p[56]):

f2[2,1]:=(((((((g[56,2]*e[56])*(e[2]*sin((th[55]-th[1]))))-((cos((th[55]-th[1]))*e[2])*(e[56]*b[56,2])))+(((g[56,7]*
e[56])*(e[7]*sin((th[55]-th[6]))))-((cos((th[55]-th[6]))*e[7])*(e[56]*b[56,7]))))+(0-(e[56]*
(e[56]*b[56,56]))))+(((g[56,57]*e[56])*(e[57]*sin((th[55]-th[56]))))-((cos((th[55]-th[56]))*e[57])*(e[56]*
b[56,57]))))-q[56]):

f1[57,1]:=(((((((((b[57,3]*e[57])*(e[3]*sin((th[56]-th[2]))))+((cos((th[56]-th[2]))*e[3])*(e[57]*g[57,3])))+(((b[57,4]*
e[57])*(e[4]*sin((th[56]-th[3]))))+((cos((th[56]-th[3]))*e[4])*(e[57]*g[57,4]))))+(((b[57,5]*e[57])*
(e[5]*sin((th[56]-th[4]))))+((cos((th[56]-th[4]))*e[5])*(e[57]*g[57,5]))))+(((b[57,56]*e[57])*(e[56]*
sin((th[56]-th[55]))))+((cos((th[56]-th[55]))*e[56])*(e[57]*g[57,56]))))+(e[57]*(e[57]*g[57,57])))+(((b[57,60]*
e[57])*(e[60]*sin((th[56]-th[59]))))+((cos((th[56]-th[59]))*e[60])*(e[57]*g[57,60]))))-p[57]):

f2[3,1]:=(((((((((g[57,3]*e[57])*(e[3]*sin((th[56]-th[2]))))-((cos((th[56]-th[2]))*e[3])*(e[57]*b[57,3])))+(((g[57,4]*
e[57])*(e[4]*sin((th[56]-th[3]))))-((cos((th[56]-th[3]))*e[4])*(e[57]*b[57,4]))))+(((g[57,5]*e[57])*
(e[5]*sin((th[56]-th[4]))))-((cos((th[56]-th[4]))*e[5])*(e[57]*b[57,5]))))+(((g[57,56]*e[57])*(e[56]*
sin((th[56]-th[55]))))-((cos((th[56]-th[55]))*e[56])*(e[57]*b[57,56]))))+(0-(e[57]*(e[57]*b[57,57]))))+
(((g[57,60]*e[57])*(e[60]*sin((th[56]-th[59]))))-((cos((th[56]-th[59]))*e[60])*(e[57]*b[57,60]))))-q[57]):

f1[58,1]:=((((((b[58,4]*e[58])*(e[4]*sin((th[57]-th[3]))))+((cos((th[57]-th[3]))*e[4])*(e[58]*g[58,4])))+(((b[58,7]*
e[58])*(e[7]*sin((th[57]-th[6]))))+((cos((th[57]-th[6]))*e[7])*(e[58]*g[58,7]))))+(e[58]*(e[58]*
g[58,58])))-p[58]):

f2[4,1]:=((((((g[58,4]*e[58])*(e[4]*sin((th[57]-th[3]))))-((cos((th[57]-th[3]))*e[4])*(e[58]*b[58,4])))+(((g[58,7]*
e[58])*(e[7]*sin((th[57]-th[6]))))-((cos((th[57]-th[6]))*e[7])*(e[58]*b[58,7]))))+(0-(e[58]*
(e[58]*b[58,58]))))-q[58]):

f1[59,1]:=((((((b[59,5]*e[59])*(e[5]*sin((th[58]-th[4]))))+((cos((th[58]-th[4]))*e[5])*(e[59]*g[59,5])))+(((b[59,6]*
e[59])*(e[6]*sin((th[58]-th[5]))))+((cos((th[58]-th[5]))*e[6])*(e[59]*g[59,6]))))+(e[59]*(e[59]*
g[59,59])))-p[59]):

f2[5,1]:=((((((g[59,5]*e[59])*(e[5]*sin((th[58]-th[4]))))-((cos((th[58]-th[4]))*e[5])*(e[59]*b[59,5])))+(((g[59,6]*
e[59])*(e[6]*sin((th[58]-th[5]))))-((cos((th[58]-th[5]))*e[6])*(e[59]*b[59,6]))))+(0-(e[59]*
(e[59]*b[59,59]))))-q[59]):

f1[60,1]:=((((((((b[60,3]*e[60])*(e[3]*sin((th[59]-th[2]))))+((cos((th[59]-th[2]))*e[3])*(e[60]*g[60,3])))+(((b[60,7]*
e[60])*(e[7]*sin((th[59]-th[6]))))+((cos((th[59]-th[6]))*e[7])*(e[60]*g[60,7]))))+(((b[60,57]*e[60])*
(e[57]*sin((th[59]-th[56]))))+((cos((th[59]-th[56]))*e[57])*(e[60]*g[60,57]))))+(e[60]*(e[60]*g[60,60])))+
(((b[60,61]*e[60])*(e[61]*sin((th[59]-th[60]))))+((cos((th[59]-th[60]))*e[61])*(e[60]*g[60,61]))))-p[60]):

f2[6,1]:=((((((((g[60,3]*e[60])*(e[3]*sin((th[59]-th[2]))))-((cos((th[59]-th[2]))*e[3])*(e[60]*b[60,3])))+(((g[60,7]*
e[60])*(e[7]*sin((th[59]-th[6]))))-((cos((th[59]-th[6]))*e[7])*(e[60]*b[60,7]))))+(((g[60,57]*e[60])*
(e[57]*sin((th[59]-th[56]))))-((cos((th[59]-th[56]))*e[57])*(e[60]*b[60,57]))))+(0-(e[60]*(e[60]*
b[60,60]))))+(((g[60,61]*e[60])*(e[61]*sin((th[59]-th[60]))))-((cos((th[59]-th[60]))*e[61])*(e[60]*b[60,61]))))-
q[60]):

f1[61,1]:=((((((b[61,8]*e[61])*(e[8]*sin((th[60]-th[7]))))+((cos((th[60]-th[7]))*e[8])*(e[61]*g[61,8])))+(((b[61,60]*
e[61])*(e[60]*sin((th[60]-th[59]))))+((cos((th[60]-th[59]))*e[60])*(e[61]*g[61,60]))))+(e[61]*(e[61]*
g[61,61])))-p[61]):