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%%vitesse
i=1; %%counter
wob=2; %%vitesse angulaire constante
for Th = 35:35
Th=Th/180*pi;
syms B vax wab;
Wab=[0 0 wab];
Wob=[0 0 wob];
l=0.45;
r=0.1;
rab=[l*cos(B) l*sin(B) 0];
rob=[-r*cos(Th) r*sin(Th) 0];
X1=cross(Wab,rab);
X2=cross(Wob,rob);
eq1=-vax+X1(1)+X2(1);
eq2=X1(2)+X2(2);
eq3=asin((r*sin(Th)+r)/l)-B;
S=solve(eq1,eq2,eq3,'wab','vax','B');
Beta=(180*double(S.B))/pi;
B=double(S.B);
vax=double(S.vax);
wab=double(S.wab);
%% store vax
vax_table(i) = vax;
% %% accélération
syms Aax aphAB;
AphAB=[0 0 aphAB];
Wab=[0 0 wab];
Wob=[0 0 wob];
Y1=cross(AphAB, rab);
Y2=cross(Wab,cross(Wab,rab));
Y3=cross(Wob,cross(Wob,rob));
eq4=-Aax+Y1(1)+Y2(1)+Y3(1);
eq5=Y1(2)+Y2(2)+Y3(2);
S=solve(eq4,eq5,'aphAB','Aax');
aphAB=(S.aphAB);
Aax=(S.Aax)
%Aax_table(i)=ans
i=i+1;
end |
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