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function xdot=dianci1(t,x)
   global w
m=19.6;g=9.8;la=0.116;lb=0.144;l=la+lb;
Jox=0.393;Joy=0.393;Joz=0.023;
ca=0.0004;cb=0.0004;
Ioxa=4;Ioya=4;Ioxb=4;Ioyb=4;
ra=0.0442;Da=0.08;Ara=pi*Da*ra;
rb=0.0442;Db=0.08;Arb=pi*Db*rb;
axy=0.16;
Nra=57;Nrb=57;miu0=4e-7*pi;
K=1;%K=7800;
KP=3.8;KI=200;KD=0.01;
m1=lb*m/l;m2=la*m/l;
e1=0;e2=0;

ixa=K*(KP*x(1)+KI*x(2)+KD*x(1));
iya=K*(KP*x(3)+KI*x(4)+KD*x(3));
ixb=K*(KP*x(5)+KI*x(6)+KD*x(5));
iyb=K*(KP*x(7)+KI*x(8)+KD*x(7));
%u(k)=kp*x(1)+kd*x(2)+ki*x(3);   %PID Controller;
%x(1)=error(k);                        %Calculating P
%x(2)=(error(k)-error_1)/ts;           %Calculating D
%x(3)=x(3)+error(k)*ts;                %Calculating I
%xi(k)=x(3);
fra=miu0*Nra^2*Ara*(Ioxa+ixa)^2/(4*(ca+x(1))^2);
fla=miu0*Nra^2*Ara*(Ioxa-ixa)^2/(4*(ca-x(1))^2);
fta=miu0*Nra^2*Ara*(Ioya+iya)^2/(4*(ca+x(3))^2);
fba=miu0*Nra^2*Ara*(Ioya-iya)^2/(4*(ca-x(3))^2);
frb=miu0*Nrb^2*Arb*(Ioxb+ixb)^2/(4*(cb+x(5))^2);
flb=miu0*Nrb^2*Arb*(Ioxb-ixb)^2/(4*(cb-x(5))^2);
ftb=miu0*Nrb^2*Arb*(Ioyb+iyb)^2/(4*(cb+x(7))^2);
fbb=miu0*Nrb^2*Arb*(Ioyb-iyb)^2/(4*(cb-x(7))^2);
   
Fxa=fra-fla+axy*(x(1)/ca)*(fta+fba);
Fya=fta-fba+axy*(x(3)/ca)*(fra+fla);
Fxb=frb-flb+axy*(x(5)/cb)*(ftb+fbb);
Fyb=ftb-fbb+axy*(x(7)/cb)*(frb+flb);
fx=m1*e1*w^2*cos(w*t)+m2*e2*w^2*cos(w*t);
fy=-m1*e1*w^2*sin(w*t)+m2*e2*w^2*sin(w*t);
A=-Fxa-Fxb+fx;
B=-Fya-Fyb+m*g+fy;
C=Fxa*la-Fxb*lb-Joz/l*w*x(2)+Joz*w/l*x(4);
D=Fya*la-Fyb*lb+Joz/l*w*x(6)+Joz*w/l*x(8);


xdot=[x(2);
     (Joy*A*l-C*l*la*m)/(Joy*la*m+Joy*lb*m);
      x(4);
       (Joy*A*l+ C*l*lb*m)/(Joy*la*m+Joy*lb*m);
      x(6);
      (Jox*B*l-D*l*la*m)/(Jox*la*m+Jox*lb*m);
      x(8);
      (Jox*B*l+D*l*lb*m)/(Jox*la*m+Jox*lb*m)];

ÔÚmatlabÖÐÔËÐгÌÐò
clc;
clear;
%global w
w=100;
x0=[0,0,0,0,0,0,0,0];
for n=1:60
     [t,x]=ode45('dianci1',[0 10],x0);
x0=x(end,;
hold on
plot(x(:,1),x(:,2));
end
µ«Êǽá¹ûÔõô»á³ö´í
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??? Error using ==> odearguments at 116
DIANCI1 returns a vector of length 4, but the length of initial conditions vector is 8.
The vector returned by DIANCI1 and the initial conditions vector must have the same number
of elements.

Error in ==> ode45 at 173
[neq, tspan, ntspan, next, t0, tfinal, tdir, y0, f0, odeArgs, odeFcn, ...

Error in ==> jiedianci at 7
     [t,x]=ode45('dianci1',[0 10],x0);
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clc;
clear;
%global w
w=100;
x0=[0,0,0,0,0,0,0,0];
for n=1:60
     [t,x]=ode45('dianci1',[0 10],x0);
x0=x(end,;
hold on
plot(x(:,1),x(:,2));
end
2Â¥2011-09-08 10:17:02
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