最佳无碳小车设计（一等奖）(9)

%摩擦因素muc muc=0.1; %摩擦力矩Mc

Mc=sgmc*muc*bc*B^2/4; %摩阻系数 sgm=0.5/1000;

mMN=rou.*(m*9.8*r2*lmd-Nc*sgm)/R; K=rou.*m*r2^2*lmd/R^2;

NCNB=Nc*sgm.*sqrt((rou-a1).^2+d^2)/RC+Nc*sgm*(rou-a1-a2);RIA=II./rou; NRA=NCNB*R./rou;

aa=(mMN-NCNB)./(K+RIA);

plot(y,aa) hold on

7.5灵敏度分析程序

clear tic %符号定义 %重物下降的高度h %驱动轴转过角度sd2

%驱动轴与圆柱凸轮轴传动比ii %转向轮与圆柱凸轮轴心距b %转向杆的长c %转向轮转过的角度af %驱动轮半径R

%驱动轮A与转向轮横向偏距a1 %驱动轮B与转向轮横向偏距a2 %驱动轴与转向轮的距离d %小车行驶的路程s %小车x方向的位移x %小车y方向的位移y %轨迹曲率半径rou %曲柄半径r1 %绳轮半径r2

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%参数输入 n=10000;

h=linspace(0,0.5,n); ii=3; b=0.15; R=0.111;

%驱动轮A与转向轮横向偏距a1 a1=0.08;

%驱动轮B与转向轮横向偏距a2 a2=0.08; %曲柄半径r1 r1=0.01347; %绳轮半径r2 r2=0.006;

%驱动轴与转向轮的距离d d=0.18; %转向杆的长c c=0.06;

l=sqrt(b^2+r1^2)+(0.351)/1000;aa=zeros(1,8); kk=zeros(3,8); A1=zeros(9,4); ddc=0.000001; aa(1,1)=ii; aa(1,2)=b; aa(1,3)=R; aa(1,4)=a1; aa(1,5)=r1; aa(1,6)=r2; aa(1,7)=c; aa(1,8)=l; %算法 for i=1:9 if i>1

aa(1,i-1)=aa(1,i-1)+ddc; end

ii=aa(1,1); b=aa(1,2); R=aa(1,3);

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a1=aa(1,4); r1=aa(1,5); r2=aa(1,6); c=aa(1,7); l=aa(1,8); g=-10; sd2=h/r2;

sd1=sd2/ii+pi/2;

C=l^2-2*c^2-r1^2.*(cos(sd1)).^2-(b-r1.*sin(sd1)).^2;A=2.*c.*(b-r1.*sin(sd1)); B=-2*c^2;

af=asin(C./sqrt(A.^2+B.^2))-atan(B./A); format long

rou=a1+(d)./(tan(af)); s=sd2*R; ds=s(2)-s(1); dbd=ds./(rou); bd=cumsum(dbd); dy=ds*cos(bd); dx=-ds*sin(bd); x=cumsum(dx); y=cumsum(dy); plot(x,y) grid on hold on

for j=fix(6.5*n/9):fix(8.5*n/9)

if x(j)==min(x(fix(6.5*n/9):fix(8.5*n/9))) A1(i,1)=x(j); A1(i,2)=y(j); end

if x(j)==max(x) A1(i,3)=x(j); A1(i,4)=y(j); end end if i>1

aa(1,i-1)=aa(1,i-1)-ddc; end end

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for i=2:9

kk(1,i-1)=(A1(i,1)-A1(1,1))/ddc/14;%幅值 kk(2,i-1)=(A1(i,4)-A1(1,4))/ddc/4;%波长 kk(3,i-1)=A1(i,3)/ddc/8/8;%角度 end toc kk'

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