F25=0.0;
FM25=-RM25.*9.8.*U.*VP1./OMGA;
%弹筒26的运动规律,认为弹筒26在90°周期内作平动:
RM26=68.8398;
RJ26=0.294227;
U=0.15;
RJ26=RM26.*(VP1./OMGA).^2;
F26=0.0;
FM26=-RM26.*9.8.*U.*VP1./OMGA;
%弹筒27的运动规律,认为弹筒27在90°周期内作平动:
RM27=68.8398;
RJ27=0.294227;
U=0.15;
RJ27=RM27.*(VP1./OMGA).^2;
F27=0.0;
FM27=-RM27.*9.8.*U.*VP1./OMGA;
%弹筒28的运动规律,认为弹筒28在90°周期内作平动:
RM28=68.8398;
RJ28=0.294227;
U=0.15;
RJ28=RM28.*(VP1./OMGA).^2;
F28=0.0;
FM28=-RM28.*9.8.*U.*VP1./OMGA;
%弹筒29的运动规律,认为弹筒29在90°周期内作平动:
RM29=68.8398;
RJ29=0.294227;
U=0.15;
RJ29=RM29.*(VP1./OMGA).^2;
F29=0.0;
FM29=-RM29.*9.8.*U.*VP1./OMGA;
%弹筒30的运动规律,认为弹筒30在90°周期内作平动:
RM30=68.8398;
RJ30=0.294227;
U=0.15;
RJ30=RM30.*(VP1./OMGA).^2;
F30=0.0;
FM30=-RM30.*9.8.*U.*VP1./OMGA;
%弹筒31的运动规律,认为弹筒31在90°周期内作平动:
RM31=68.8398;
RJ31=0.294227;
U=0.15;
RJ31=RM31.*(VP1./OMGA).^2;
F31=0.0;
FM31=-RM31.*9.8.*U.*VP1./OMGA;
EJ=RJ1+RJ2+RJ3+RJ4+RJ5+RJ6+RJ7+RJ8+RJ9+RJ10+RJ11+RJ12+RJ13+RJ14+RJ15+RJ16+RJ17+RJ18+RJ19+RJ20+RJ21+RJ22+RJ23+RJ24+RJ25+RJ26+RJ27+RJ28+RJ29+RJ30+RJ31;
EF=F1+F2+F3+F4+F5+F6+F7+F8+F9+F10+F11+F12+F13+F14+F15+F16+F17+F18+F19+F20+F21+F22+F23+F24+F25+F26+F27+F28+F29+F30+F31;
EFMDT=FM1+FM2+FM3+FM4+FM5+FM6+FM7+FM8+FM9+FM10+FM11+FM12+FM13+FM14+FM15+FM16+FM17+FM18+FM19+FM20+FM21+FM22+FM23+FM24+FM25+FM26+FM27+FM28+FM29+FM30+FM31;
end
DJDF(1)=(EJ(2)-EJ(1))./(XTA(2)-XTA(1));
DJDF(N+1)=(EJ(N+1)-EJ(N))./(XTA(N+1)-XTA(N));
DJDF(N/2+1)=0;
DJDF(N/2+2)=0;
for i=2:(N/2);
DJDF(i)=(EJ(i+1)-EJ(i))./(XTA(i+1)-XTA(i))./2.0+(EJ(i)-EJ(i-1))./(XTA(i)-XTA(i-1))./2.0;
end
for i=(N/2+1):N;
DJDF(i)=(EJ(i+1)-EJ(i))./(XTA(i+1)-XTA(i))./2.0+(EJ(i)-EJ(i-1))./(XTA(i)-XTA(i-1))./2.0;
end
%右端函数
ZZJ=84819.5e-6; %主动组合链轮的等效转动惯量
CZJ=84819.5e-6; %从动组合链轮的等效转动惯量
DJZJ=0.0; %电机转子及连接轴的转动惯量
RG1J=7.01511e-6; %齿轮1的转动惯量
RG2J=512.148e-6; %齿轮2的转动惯量
RG3J=53.271e-6; %齿轮3的转动惯量
RG4J=3889.12e-6; %齿轮4的转动惯量
RG5J=720.0e-6; %齿轮5的转动惯量
RG6J=11657.3e-6; %齿轮6的转动惯量
RI1=38.0/13.0*38.0/13.0*41.0; %264.8757 !第一级传动的速比
RI2=38.0/13.0*41.0; %90.61538 !第二级传动的速比
RI3=41.0; %31.0 !第三级传动的速比
E1=0.95; %第一级传动的效率
E2=0.95; %第二级传动的效率
E3=0.47; %第三级传动的效率
%CDJ-传动部分的总的等效转动惯量
CDJ=ZZJ+CZJ+DJZJ*RI1^2*E1*E2*E3*2.0+RG1J*RI1^2*E1*E2*E3+RG2J*RI2^2*E2*E3+RG3J*RI2^2*E2*E3+RG4J*RI3^2*E3+RG5J*RI3^2*E3+RG6J;
%DLIJ-动力矩
x=6400;
DLIJ=(x-6722.0)/(5828.0-6722.0)*0.75+(x-5828.0)/(6722.0-5828.0)*0.5;
a=EJ+CDJ;
b=DJDF;
c=EF+EFMDT+DLIJ;
dy(1)=y(2);
dy(2)=-b*(y(2))^2/2/a+c/a;
调用四阶龙格-库塔法解微分方程:
%rk4解弹仓运动方程 长节距少齿链式弹仓的动力学计算与分析(16):http://www.youerw.com/jixie/lunwen_1794.html