clear all;
i=1;
[lAB,lBC,lDC,lAD,lAE,lIF,beta1,beta2]=deal(101.0357,38.4845,41.2790,81.8911,144.3175,178.550,1.0782,0.2965);%(78.5778,36.1099,47.6599,66.5572,160.0000,160.0000,0.8868,0.3491);%(91.6332,41.5026,54.6996,79.9468,158.000,160.0000,0.8583,0.3491);%(106.5506,43.8613,57.5847,93.2645,143.2679,160.0000,0.9281,0.2664);%(100,38,37.5,72,165,160,1.0881,0.2);%%(103.5066,56.8959,70.6631,91.4309,148.7787,186.3569,0.7495,0.4121);%%;%;%%
lDH=264.8;
lAI=306.49;
l0=260;
h = zeros(1,1001);
w3=zeros(1,1001);
vy=zeros(1,1001);
Q=zeros(1,1001);
y = 0:0.1:100;
for x=0:0.1:100
lEF=l0+x;
d=lAI;
e=lIF;
f=(lEF^2-d^2-e^2-lAE^2)/2/lAE;
if d^2+e^2-f^2>0
sita1=2*atan((e+sqrt(d^2+e^2-f^2))/(d-f));
sita2=atan((e-lAE*sin(sita1))/(d-lAE*cos(sita1)));
phi1=sita1-beta1-beta2;
a=lAD-lAB*cos(phi1);
b=-lAB*sin(phi1);
c=(a^2+b^2+lDC^2-lBC^2)/2/lDC;
if a^2+b^2-c^2>0
phi3=2*atan((b-sqrt(a^2+b^2-c^2))/(a-c));
phi2s=(atan((b+lDC*sin(phi3))/(a+lDC*cos(phi3))));
%phi2(i)=pi+atan((B+lCD*sin(phi3))/(A+lCD*cos(phi3)));
if phi2s<=50*pi/80 || lEF>305;
phi2=(pi+atan((b+lDC*sin(phi3))/(a+lDC*cos(phi3))));
else
phi2=(atan((b+lDC*sin(phi3))/(a+lDC*cos(phi3))));
end
%phi2=pi+atan((B+lDC*sin(phi3))/(A+lDC*cos(phi3)));
%phi4=phi3+beta3;
Rd=110.6;
h(i)=lDH*sin(phi3+beta1)-130+Rd;
v=5;
w1=v/(lAE*sin(sita1-sita2));
w3(i)=w1*(lAB*sin(phi1-phi2))/(lDC*sin(phi3-phi2));
vy=w3*lDH*cos(pi/2-(pi-phi3-beta1));
g=280;
G=1200;
if h>0
Q(i)=(g*lDH*cos(pi-(phi3+beta1))*lAB*sin((phi2-phi1)-pi))/(lDC*sin(phi2-phi3)*lAE*sin(sita1-sita2));
else
Q(i)=(G*lDH*cos(phi3+beta1-pi)*lAB*sin(pi-(phi2-phi1)))/(1*lDC*sin(phi2-phi3)*lAE*sin(sita1-sita2));
end
end
end
i=i+1;
end
lCD=(lAB-lBC)*cos(beta1)/sin(phi3);
phi3=phi3/pi*180;
plot(y,h,'r');hold on;xlabel('电动缸行程δ/(mm)');ylabel('高度差h/(mm)');%title('高度差h随电推变化图')
%plot(y,w3,'k');hold on;xlabel('电动缸行程δ/(mm)');ylabel('悬臂角速度w3/(rad/s)');%title('悬臂角速度w3随电推变化图')
%plot(y,vy,'k');hold on;xlabel('电动缸行程δ/(mm)');ylabel('悬臂角速度vy/(rad/s)');%title('悬臂角速度w3随电推变化图')
%plot(y,Q,'k');hold on;xlabel('电动缸行程δ/(mm)');ylabel('电推杆受力Q/(N)');%title('电推杆受力Q随电推变化图') %去掉h里的括弧里的i
grid on;%legend('lAB=95');
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