model.src

一种求解目标函数最小化的MATLAB仿真程序.

f2[7,1]:=((((((g[61,8]*e[61])*(e[8]*sin((th[60]-th[7]))))-((cos((th[60]-th[7]))*e[8])*(e[61]*b[61,8])))+(((g[61,60]*
e[61])*(e[60]*sin((th[60]-th[59]))))-((cos((th[60]-th[59]))*e[60])*(e[61]*b[61,60]))))+(0-(e[61]*
(e[61]*b[61,61]))))-q[61]):

f1[62,1]:=((((((b[62,7]*e[62])*(e[7]*sin((th[61]-th[6]))))+((cos((th[61]-th[6]))*e[7])*(e[62]*g[62,7])))+(((b[62,8]*
e[62])*(e[8]*sin((th[61]-th[7]))))+((cos((th[61]-th[7]))*e[8])*(e[62]*g[62,8]))))+(e[62]*(e[62]*
g[62,62])))-p[62]):

f2[8,1]:=((((((g[62,7]*e[62])*(e[7]*sin((th[61]-th[6]))))-((cos((th[61]-th[6]))*e[7])*(e[62]*b[62,7])))+(((g[62,8]*
e[62])*(e[8]*sin((th[61]-th[7]))))-((cos((th[61]-th[7]))*e[8])*(e[62]*b[62,8]))))+(0-(e[62]*
(e[62]*b[62,62]))))-q[62]):

f1[63,1]:=((((((b[63,7]*e[63])*(e[7]*sin((th[62]-th[6]))))+((cos((th[62]-th[6]))*e[7])*(e[63]*g[63,7])))+(e[63]*
(e[63]*g[63,63])))+(((b[63,64]*e[63])*(e[64]*sin((th[62]-th[63]))))+((cos((th[62]-th[63]))*e[64])*(e[63]*
g[63,64]))))-p[63]):

f2[9,1]:=((((((g[63,7]*e[63])*(e[7]*sin((th[62]-th[6]))))-((cos((th[62]-th[6]))*e[7])*(e[63]*b[63,7])))+(0-
(e[63]*(e[63]*b[63,63]))))+(((g[63,64]*e[63])*(e[64]*sin((th[62]-th[63]))))-((cos((th[62]-th[63]))*e[64])*
(e[63]*b[63,64]))))-q[63]):

f1[64,1]:=((((((((((b[64,8]*e[64])*(e[8]*sin((th[63]-th[7]))))+((cos((th[63]-th[7]))*e[8])*(e[64]*g[64,8])))+(((b[64,9]*
e[64])*(e[9]*sin((th[63]-th[8]))))+((cos((th[63]-th[8]))*e[9])*(e[64]*g[64,9]))))+(((b[64,15]*e[64])*
(e[15]*sin((th[63]-th[14]))))+((cos((th[63]-th[14]))*e[15])*(e[64]*g[64,15]))))+(((b[64,53]*e[64])*(e[53]*
sin((th[63]-th[52]))))+((cos((th[63]-th[52]))*e[53])*(e[64]*g[64,53]))))+(((b[64,63]*e[64])*(e[63]*sin((th[63]-
th[62]))))+((cos((th[63]-th[62]))*e[63])*(e[64]*g[64,63]))))+(e[64]*(e[64]*g[64,64])))+(((b[64,71]*e[64])*
(e[71]*sin((th[63]-th[70]))))+((cos((th[63]-th[70]))*e[71])*(e[64]*g[64,71]))))-p[64]):

f2[10,1]:=((((((((((g[64,8]*e[64])*(e[8]*sin((th[63]-th[7]))))-((cos((th[63]-th[7]))*e[8])*(e[64]*b[64,8])))+(((g[64,9]*
e[64])*(e[9]*sin((th[63]-th[8]))))-((cos((th[63]-th[8]))*e[9])*(e[64]*b[64,9]))))+(((g[64,15]*e[64])*
(e[15]*sin((th[63]-th[14]))))-((cos((th[63]-th[14]))*e[15])*(e[64]*b[64,15]))))+(((g[64,53]*e[64])*(e[53]*
sin((th[63]-th[52]))))-((cos((th[63]-th[52]))*e[53])*(e[64]*b[64,53]))))+(((g[64,63]*e[64])*(e[63]*sin((th[63]-
th[62]))))-((cos((th[63]-th[62]))*e[63])*(e[64]*b[64,63]))))+(0-(e[64]*(e[64]*b[64,64]))))+(((g[64,71]*
e[64])*(e[71]*sin((th[63]-th[70]))))-((cos((th[63]-th[70]))*e[71])*(e[64]*b[64,71]))))-q[64]):

f1[65,1]:=((((((b[65,10]*e[65])*(e[10]*sin((th[64]-th[9]))))+((cos((th[64]-th[9]))*e[10])*(e[65]*g[65,10])))+(e[65]*
(e[65]*g[65,65])))+(((b[65,66]*e[65])*(e[66]*sin((th[64]-th[65]))))+((cos((th[64]-th[65]))*e[66])*(e[65]*
g[65,66]))))-p[65]):

f2[11,1]:=((((((g[65,10]*e[65])*(e[10]*sin((th[64]-th[9]))))-((cos((th[64]-th[9]))*e[10])*(e[65]*b[65,10])))+(0-
(e[65]*(e[65]*b[65,65]))))+(((g[65,66]*e[65])*(e[66]*sin((th[64]-th[65]))))-((cos((th[64]-th[65]))*e[66])*
(e[65]*b[65,66]))))-q[65]):

f1[66,1]:=((((((b[66,65]*e[66])*(e[65]*sin((th[65]-th[64]))))+((cos((th[65]-th[64]))*e[65])*(e[66]*g[66,65])))+(e[66]*
(e[66]*g[66,66])))+(((b[66,67]*e[66])*(e[67]*sin((th[65]-th[66]))))+((cos((th[65]-th[66]))*e[67])*(e[66]*
g[66,67]))))-p[66]):

f2[12,1]:=((((((g[66,65]*e[66])*(e[65]*sin((th[65]-th[64]))))-((cos((th[65]-th[64]))*e[65])*(e[66]*b[66,65])))+(0-
(e[66]*(e[66]*b[66,66]))))+(((g[66,67]*e[66])*(e[67]*sin((th[65]-th[66]))))-((cos((th[65]-th[66]))*e[67])*
(e[66]*b[66,67]))))-q[66]):

f1[67,1]:=((((((b[67,66]*e[67])*(e[66]*sin((th[66]-th[65]))))+((cos((th[66]-th[65]))*e[66])*(e[67]*g[67,66])))+(e[67]*
(e[67]*g[67,67])))+(((b[67,68]*e[67])*(e[68]*sin((th[66]-th[67]))))+((cos((th[66]-th[67]))*e[68])*(e[67]*
g[67,68]))))-p[67]):

f2[13,1]:=((((((g[67,66]*e[67])*(e[66]*sin((th[66]-th[65]))))-((cos((th[66]-th[65]))*e[66])*(e[67]*b[67,66])))+(0-
(e[67]*(e[67]*b[67,67]))))+(((g[67,68]*e[67])*(e[68]*sin((th[66]-th[67]))))-((cos((th[66]-th[67]))*e[68])*
(e[67]*b[67,68]))))-q[67]):

f1[68,1]:=((((((((b[68,11]*e[68])*(e[11]*sin((th[67]-th[10]))))+((cos((th[67]-th[10]))*e[11])*(e[68]*g[68,11])))+(((b[68,12]*
e[68])*(e[12]*sin((th[67]-th[11]))))+((cos((th[67]-th[11]))*e[12])*(e[68]*g[68,12]))))+(((b[68,16]*e[68])*
(e[16]*sin((th[67]-th[15]))))+((cos((th[67]-th[15]))*e[16])*(e[68]*g[68,16]))))+(((b[68,67]*e[68])*(e[67]*
sin((th[67]-th[66]))))+((cos((th[67]-th[66]))*e[67])*(e[68]*g[68,67]))))+(e[68]*(e[68]*g[68,68])))-p[68]):

f2[14,1]:=((((((((g[68,11]*e[68])*(e[11]*sin((th[67]-th[10]))))-((cos((th[67]-th[10]))*e[11])*(e[68]*b[68,11])))+(((g[68,12]*
e[68])*(e[12]*sin((th[67]-th[11]))))-((cos((th[67]-th[11]))*e[12])*(e[68]*b[68,12]))))+(((g[68,16]*e[68])*
(e[16]*sin((th[67]-th[15]))))-((cos((th[67]-th[15]))*e[16])*(e[68]*b[68,16]))))+(((g[68,67]*e[68])*(e[67]*
sin((th[67]-th[66]))))-((cos((th[67]-th[66]))*e[67])*(e[68]*b[68,67]))))+(0-(e[68]*(e[68]*b[68,68]))))-
q[68]):

f1[69,1]:=((((((b[69,14]*e[69])*(e[14]*sin((th[68]-th[13]))))+((cos((th[68]-th[13]))*e[14])*(e[69]*g[69,14])))+(e[69]*
(e[69]*g[69,69])))+(((b[69,70]*e[69])*(e[70]*sin((th[68]-th[69]))))+((cos((th[68]-th[69]))*e[70])*(e[69]*
g[69,70]))))-p[69]):

f2[15,1]:=((((((g[69,14]*e[69])*(e[14]*sin((th[68]-th[13]))))-((cos((th[68]-th[13]))*e[14])*(e[69]*b[69,14])))+(0-
(e[69]*(e[69]*b[69,69]))))+(((g[69,70]*e[69])*(e[70]*sin((th[68]-th[69]))))-((cos((th[68]-th[69]))*e[70])*
(e[69]*b[69,70]))))-q[69]):

f1[70,1]:=((((((b[70,15]*e[70])*(e[15]*sin((th[69]-th[14]))))+((cos((th[69]-th[14]))*e[15])*(e[70]*g[70,15])))+(((b[70,69]*
e[70])*(e[69]*sin((th[69]-th[68]))))+((cos((th[69]-th[68]))*e[69])*(e[70]*g[70,69]))))+(e[70]*(e[70]*
g[70,70])))-p[70]):

f2[16,1]:=((((((g[70,15]*e[70])*(e[15]*sin((th[69]-th[14]))))-((cos((th[69]-th[14]))*e[15])*(e[70]*b[70,15])))+(((g[70,69]*
e[70])*(e[69]*sin((th[69]-th[68]))))-((cos((th[69]-th[68]))*e[69])*(e[70]*b[70,69]))))+(0-(e[70]*
(e[70]*b[70,70]))))-q[70]):

f1[71,1]:=((((((((b[71,5]*e[71])*(e[5]*sin((th[70]-th[4]))))+((cos((th[70]-th[4]))*e[5])*(e[71]*g[71,5])))+(((b[71,13]*
e[71])*(e[13]*sin((th[70]-th[12]))))+((cos((th[70]-th[12]))*e[13])*(e[71]*g[71,13]))))+(((b[71,64]*e[71])*
(e[64]*sin((th[70]-th[63]))))+((cos((th[70]-th[63]))*e[64])*(e[71]*g[71,64]))))+(e[71]*(e[71]*g[71,71])))+
(((b[71,75]*e[71])*(e[75]*sin((th[70]-th[74]))))+((cos((th[70]-th[74]))*e[75])*(e[71]*g[71,75]))))-p[71]):

f2[17,1]:=((((((((g[71,5]*e[71])*(e[5]*sin((th[70]-th[4]))))-((cos((th[70]-th[4]))*e[5])*(e[71]*b[71,5])))+(((g[71,13]*
e[71])*(e[13]*sin((th[70]-th[12]))))-((cos((th[70]-th[12]))*e[13])*(e[71]*b[71,13]))))+(((g[71,64]*e[71])*
(e[64]*sin((th[70]-th[63]))))-((cos((th[70]-th[63]))*e[64])*(e[71]*b[71,64]))))+(0-(e[71]*(e[71]*
b[71,71]))))+(((g[71,75]*e[71])*(e[75]*sin((th[70]-th[74]))))-((cos((th[70]-th[74]))*e[75])*(e[71]*b[71,75]))))-
q[71]):

f1[72,1]:=((((((b[72,8]*e[72])*(e[8]*sin((th[71]-th[7]))))+((cos((th[71]-th[7]))*e[8])*(e[72]*g[72,8])))+(e[72]*
(e[72]*g[72,72])))+(((b[72,74]*e[72])*(e[74]*sin((th[71]-th[73]))))+((cos((th[71]-th[73]))*e[74])*(e[72]*
g[72,74]))))-p[72]):

f2[18,1]:=((((((g[72,8]*e[72])*(e[8]*sin((th[71]-th[7]))))-((cos((th[71]-th[7]))*e[8])*(e[72]*b[72,8])))+(0-
(e[72]*(e[72]*b[72,72]))))+(((g[72,74]*e[72])*(e[74]*sin((th[71]-th[73]))))-((cos((th[71]-th[73]))*e[74])*
(e[72]*b[72,74]))))-q[72]):

f1[73,1]:=((((((b[73,18]*e[73])*(e[18]*sin((th[72]-th[17]))))+((cos((th[72]-th[17]))*e[18])*(e[73]*g[73,18])))+(e[73]*
(e[73]*g[73,73])))+(((b[73,74]*e[73])*(e[74]*sin((th[72]-th[73]))))+((cos((th[72]-th[73]))*e[74])*(e[73]*
g[73,74]))))-p[73]):

f2[19,1]:=((((((g[73,18]*e[73])*(e[18]*sin((th[72]-th[17]))))-((cos((th[72]-th[17]))*e[18])*(e[73]*b[73,18])))+(0-
(e[73]*(e[73]*b[73,73]))))+(((g[73,74]*e[73])*(e[74]*sin((th[72]-th[73]))))-((cos((th[72]-th[73]))*e[74])*
(e[73]*b[73,74]))))-q[73]):

f1[74,1]:=((((((((((b[74,17]*e[74])*(e[17]*sin((th[73]-th[16]))))+((cos((th[73]-th[16]))*e[17])*(e[74]*g[74,17])))+(((b[74,19]*
e[74])*(e[19]*sin((th[73]-th[18]))))+((cos((th[73]-th[18]))*e[19])*(e[74]*g[74,19]))))+(((b[74,72]*e[74])*
(e[72]*sin((th[73]-th[71]))))+((cos((th[73]-th[71]))*e[72])*(e[74]*g[74,72]))))+(((b[74,73]*e[74])*(e[73]*
sin((th[73]-th[72]))))+((cos((th[73]-th[72]))*e[73])*(e[74]*g[74,73]))))+(e[74]*(e[74]*g[74,74])))+(((b[74,75]*
e[74])*(e[75]*sin((th[73]-th[74]))))+((cos((th[73]-th[74]))*e[75])*(e[74]*g[74,75]))))+(((b[74,76]*e[74])*
(e[76]*sin((th[73]-th[75]))))+((cos((th[73]-th[75]))*e[76])*(e[74]*g[74,76]))))-p[74]):

f2[20,1]:=((((((((((g[74,17]*e[74])*(e[17]*sin((th[73]-th[16]))))-((cos((th[73]-th[16]))*e[17])*(e[74]*b[74,17])))+(((g[74,19]*
e[74])*(e[19]*sin((th[73]-th[18]))))-((cos((th[73]-th[18]))*e[19])*(e[74]*b[74,19]))))+(((g[74,72]*e[74])*
(e[72]*sin((th[73]-th[71]))))-((cos((th[73]-th[71]))*e[72])*(e[74]*b[74,72]))))+(((g[74,73]*e[74])*(e[73]*
sin((th[73]-th[72]))))-((cos((th[73]-th[72]))*e[73])*(e[74]*b[74,73]))))+(0-(e[74]*(e[74]*b[74,74]))))+
(((g[74,75]*e[74])*(e[75]*sin((th[73]-th[74]))))-((cos((th[73]-th[74]))*e[75])*(e[74]*b[74,75]))))+(((g[74,76]*
e[74])*(e[76]*sin((th[73]-th[75]))))-((cos((th[73]-th[75]))*e[76])*(e[74]*b[74,76]))))-q[74]):

f1[75,1]:=(((((((b[75,29]*e[75])*(e[29]*sin((th[74]-th[28]))))+((cos((th[74]-th[28]))*e[29])*(e[75]*g[75,29])))+(((b[75,71]*
e[75])*(e[71]*sin((th[74]-th[70]))))+((cos((th[74]-th[70]))*e[71])*(e[75]*g[75,71]))))+(((b[75,74]*e[75])*
(e[74]*sin((th[74]-th[73]))))+((cos((th[74]-th[73]))*e[74])*(e[75]*g[75,74]))))+(e[75]*(e[75]*g[75,75])))-
p[75]):

f2[21,1]:=(((((((g[75,29]*e[75])*(e[29]*sin((th[74]-th[28]))))-((cos((th[74]-th[28]))*e[29])*(e[75]*b[75,29])))+(((g[75,71]*
e[75])*(e[71]*sin((th[74]-th[70]))))-((cos((th[74]-th[70]))*e[71])*(e[75]*b[75,71]))))+(((g[75,74]*e[75])*
(e[74]*sin((th[74]-th[73]))))-((cos((th[74]-th[73]))*e[74])*(e[75]*b[75,74]))))+(0-(e[75]*(e[75]*
b[75,75]))))-q[75]):

f1[76,1]:=((((((b[76,19]*e[76])*(e[19]*sin((th[75]-th[18]))))+((cos((th[75]-th[18]))*e[19])*(e[76]*g[76,19])))+(((b[76,74]*
e[76])*(e[74]*sin((th[75]-th[73]))))+((cos((th[75]-th[73]))*e[74])*(e[76]*g[76,74]))))+(e[76]*(e[76]*
g[76,76])))-p[76]):

f2[22,1]:=((((((g[76,19]*e[76])*(e[19]*sin((th[75]-th[18]))))-((cos((th[75]-th[18]))*e[19])*(e[76]*b[76,19])))+(((g[76,74]*
e[76])*(e[74]*sin((th[75]-th[73]))))-((cos((th[75]-th[73]))*e[74])*(e[76]*b[76,74]))))+(0-(e[76]*
(e[76]*b[76,76]))))-q[76]):

f1[77,1]:=((((((b[77,19]*e[77])*(e[19]*sin((th[76]-th[18]))))+((cos((th[76]-th[18]))*e[19])*(e[77]*g[77,19])))+(((b[77,20]*
e[77])*(e[20]*sin((th[76]-th[19]))))+((cos((th[76]-th[19]))*e[20])*(e[77]*g[77,20]))))+(e[77]*(e[77]*
g[77,77])))-p[77]):

f2[23,1]:=((((((g[77,19]*e[77])*(e[19]*sin((th[76]-th[18]))))-((cos((th[76]-th[18]))*e[19])*(e[77]*b[77,19])))+(((g[77,20]*
e[77])*(e[20]*sin((th[76]-th[19]))))-((cos((th[76]-th[19]))*e[20])*(e[77]*b[77,20]))))+(0-(e[77]*
(e[77]*b[77,77]))))-q[77]):

f1[78,1]:=((((((b[78,17]*e[78])*(e[17]*sin((th[77]-th[16]))))+((cos((th[77]-th[16]))*e[17])*(e[78]*g[78,17])))+(e[78]*
(e[78]*g[78,78])))+(((b[78,79]*e[78])*(e[79]*sin((th[77]-th[78]))))+((cos((th[77]-th[78]))*e[79])*(e[78]*
g[78,79]))))-p[78]):

f2[24,1]:=((((((g[78,17]*e[78])*(e[17]*sin((th[77]-th[16]))))-((cos((th[77]-th[16]))*e[17])*(e[78]*b[78,17])))+(0-
(e[78]*(e[78]*b[78,78]))))+(((g[78,79]*e[78])*(e[79]*sin((th[77]-th[78]))))-((cos((th[77]-th[78]))*e[79])*
(e[78]*b[78,79]))))-q[78]):

f1[79,1]:=((((((b[79,78]*e[79])*(e[78]*sin((th[78]-th[77]))))+((cos((th[78]-th[77]))*e[78])*(e[79]*g[79,78])))+(e[79]*
(e[79]*g[79,79])))+(((b[79,80]*e[79])*(e[80]*sin((th[78]-th[79]))))+((cos((th[78]-th[79]))*e[80])*(e[79]*
g[79,80]))))-p[79]):

f2[25,1]:=((((((g[79,78]*e[79])*(e[78]*sin((th[78]-th[77]))))-((cos((th[78]-th[77]))*e[78])*(e[79]*b[79,78])))+(0-
(e[79]*(e[79]*b[79,79]))))+(((g[79,80]*e[79])*(e[80]*sin((th[78]-th[79]))))-((cos((th[78]-th[79]))*e[80])*
(e[79]*b[79,80]))))-q[79]):

f1[80,1]:=(((((((b[80,21]*e[80])*(e[21]*sin((th[79]-th[20]))))+((cos((th[79]-th[20]))*e[21])*(e[80]*g[80,21])))+(((b[80,22]*
e[80])*(e[22]*sin((th[79]-th[21]))))+((cos((th[79]-th[21]))*e[22])*(e[80]*g[80,22]))))+(((b[80,79]*e[80])*
(e[79]*sin((th[79]-th[78]))))+((cos((th[79]-th[78]))*e[79])*(e[80]*g[80,79]))))+(e[80]*(e[80]*g[80,80])))-