OMGAZ2=OMGA;

VC2=OC.*OMGA;

    ALFG2=pi-(XTA-ALF2);

    RJ18=RM18.*(VC2./OMGA).^2+RJ18.*(OMGAZ2./OMGA).^2;

    F18=RM18.*9.8.*VC2.*cos(ALFG2)./OMGA;

    FM18=0.0;

%45——90°

else

    BTA=pi/2.0-(XTA-pi/4.0);

    DO=OA.*cos(BTA);

DA=OA.*sin(BTA);

EA=B1O-DO;

BE=sqrt(BA.^2-EA.^2);

ABE=asin(EA./BA);

BB1=BE-DA;

BO=sqrt(BB1.^2+B1O.^2);

ALF=acos((BA.^2+OA.^2-BO.^2)./(2.0.*BA.*OA));

S18=BB1;

VA=OA.*OMGA;

VZ=VA.*sin(BTA)./sin(pi-ALF-BTA);

VP=VA.*sin(ALF)./sin(pi-ALF-BTA);

OMGAZ=VZ./BA;

EBC=ABC-ABE;

GMA=pi/2.0-EBC;

VC=sqrt(VP.^2+(BC.*OMGAZ).^2-2.0.*VP.*(BC.*OMGAZ).*cos(pi-GMA));

ALFG=pi/2.0+asin(BC.*OMGAZ.*sin(pi-GMA)./VC);

RJ18=RM18.*(VC./OMGA).^2+RJ18.*(OMGAZ./OMGA).^2;

F18=RM18.*9.8.*VC.*cos(ALFG)./OMGA;

FM18=-0.5.*RM18.*9.8.*U.*VP./OMGA;

end

%弹筒19的运动规律，认为弹筒19在0——45°范围内作平面运动，在45——90度内作平动：

RM19=68.8398;

RJ19=0.294227;

U=0.15;

%0——45°

if XTA<=(pi/4.0);

    A1OD=pi/4.0;

DO=131.0e-3;

OA=131.0e-3;

BA=sqrt(2.0.*131.0e-3.^2);

B1D=88.612e-3;

ABC=atan(72.0e-3./92.63e-3);

BC=117.3214e-3;

    ALF=A1OD-XTA;

EA=DO-OA.*cos(ALF);

BE=sqrt(BA.^2-EA.^2);

BD=BE-OA.*sin(ALF);

BO=sqrt(BD.^2+DO.^2);

BTA=acos((BA.^2+OA.^2-BO.^2)./(2.0.*BA.*OA));

S19=BE-OA.*sin(ALF)-B1D;

VA=OA.*OMGA;

VP19=VA.*sin(BTA)./sin(pi-ALF-BTA);

VZ=VA.*sin(ALF)./sin(pi-ALF-BTA);

OMGAZ=VZ./BA;

EBC=ABC-asin(EA./BA);

GMA=pi-(pi/2.0-EBC);

VC=sqrt(VP19.^2+(OMGAZ.*BC).^2-2.0.*VP19.*(BC.*OMGAZ).*cos(GMA));

ALFG=pi/2.0+asin(BC.*OMGAZ.*sin(GMA)./VC);

  RJ19=RM19.*(VC./OMGA).^2+RJ19.*(OMGAZ./OMGA).^2;

F19=RM19.*9.8.*VC.*cos(ALFG)./OMGA;

FM19=-0.5.*RM19.*9.8.*U.*VP19./OMGA;

else

%45——90°

    RJ19=RM19.*(VP1./OMGA).^2;

F19=0.0;

FM19=-0.5.*RM19.*9.8.*U.*VP1./OMGA;

end

%弹筒20的运动规律，认为弹筒20在90°周期内作平动：

RM20=68.8398;

RJ20=0.294227;

U=0.15;

RJ20=RM20.*(VP1./OMGA).^2;

F20=0.0;

FM20=-RM20.*9.8.*U.*VP1./OMGA;

%弹筒21的运动规律，认为弹筒21在90°周期内作平动：

RM21=68.8398;

RJ21=0.294227;

U=0.15;

RJ21=RM21.*(VP1./OMGA).^2;

F21=0.0;

FM21=-RM21.*9.8.*U.*VP1./OMGA;

%弹筒22的运动规律，认为弹筒22在90°周期内作平动：

RM22=68.8398;

RJ22=0.294227;

U=0.15;

RJ22=RM22.*(VP1./OMGA).^2;

F22=0.0;

FM22=-RM22.*9.8.*U.*VP1./OMGA;

%弹筒23的运动规律，认为弹筒23在90°周期内作平动：

RM23=68.8398;

RJ23=0.294227;

U=0.15;

RJ23=RM2.*(VP1./OMGA).^2;

F23=0.0;

FM23=-RM23.*9.8.*U.*VP1./OMGA;

%弹筒24的运动规律，认为弹筒24在90°周期内作平动：

RM24=68.8398;

RJ24=0.294227;

U=0.15;

RJ24=RM24.*(VP1./OMGA).^2;

F24=0.0;

FM24=-RM24.*9.8.*U.*VP1./OMGA;

%弹筒25的运动规律，认为弹筒25在90°周期内作平动：

RM25=68.8398;

RJ25=0.294227;

U=0.15;

RJ25=RM25.*(VP1./OMGA).^2;