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victorhunterгæ (³õÈëÎÄ̳)
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[ÇóÖú]
matlab±à³ÌX=inv(A)*Ff³öÏÖError using * Inner matrix dimensions must agreeÇóÖú ÒÑÓÐ3È˲ÎÓë
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A1=[1,0,-1,0,0,0,0,0,0,0,0,0,0]; A2=[0,1,0,1,0,0,0,0,0,0,0,0,0]; A3=[0,0,-R1*sin(phi1(:,m)),R1*cos(phi1(:,m)),-1,0,0,0,0,0,0,0,0]; A4=[0,0,1,0,0,-1,0,0,0,0,0,0,0]; A5=[0,0,0,1,0,0,1,0,0,0,0,0,0]; A6=[0,0,r2*sin(7*pi/6-phi2(:,m)),r2*cos(7*pi/6-phi2(:,m)),0,R2*sin(phi2(:,m))-r2*sin(7*pi/6-phi2(:,m)),R2*cos(phi2(:,m))+r2*cos(7*pi/6-phi2(:,m)),0,0,0,0,0,0]; A7=[0,0,0,0,0,1,0,-1,0,-sin(8*pi/9-phi3(:,m)),0,0,0]; A8=[0,0,0,0,0,0,-1,0,1,-cos(8*pi/9-phi3(:,m)),0,0,0]; A9=[0,0,0,0,0,R3*sin(phi3(:,m)),R3*cos(phi3(:,m)),0,0,-L3/sin(8*pi/9-phi3(:,m)),0,0,0]; A10=[0,0,0,0,0,0,0,0,0,sin(8*pi/9-phi3(:,m)),-1,0,0]; A11=[0,0,0,0,0,0,0,0,0,cos(8*pi/9-phi3(:,m)),0,1,0]; A12=[0,0,0,1,0,0,0,0,0,0,-1,0,-1]; A13=[0,0,0,0,1,0,0,0,0,0,0,1,0]; A=[A1;A2;A3;A4;A5;A6;A7;A8;A9;A10;A11;A12;A13]; F1=m1*a1x(:,m); F2=m1*a1y(:,m)-m1*g; F3=-m1*g*r1*cos(phi1(:,m)); F4=m2*a2x(:,m); F5=m2*g+m2*a2y(:,m); F6=-m2*r2^2*d2phi2(:,m); F7=(m3+m4)*a3x(:,m); F8=(m3+m4)*a3y(:,m)+m3*g+m4*g; F9=m3*g*r3*cos(2*pi/3-phi3(:,m))+m4*g*r4*cos(13*pi/18-phi3(:,m))-(m3*r3*r3+m4*r4*r4)*d2phi3(:,m); F10=m5*d2x2(:,m); F11=m5*g; F12=m6*d2x2(:,m); F13=-m6*g; Ff=[F1;F2;F3;F4;F5;F6;F7;F8;F9;F10;F11;F12;F13]; X=inv(A)*Ff; ÎÒ¾õµÃάÊýûÎÊÌâ°¡£¬ÇóÅ£È˽â´ð£¬Ð»Ð»£¡£¡ |
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2Â¥2014-06-15 16:35:45
victorhunter
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