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[未答复] matlab gui生成exe文件由于syms定义无法运行

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最佳答案
发表于 2017-12-18 14:32:26 | 显示全部楼层 |阅读模式
我做了一个gui,用deploytool里面的application compiler将gui打包成exe文件。但由于用到syms定义符号,因此导致exe文件无法运行,gui在matlab里面运行正常。
网上搜到有朋友建议用数值算法求解,但本人程序无法用数值方法计算。希望有朋友能帮我解决一下这个问题。
谢谢,本人微信:czw2422341926
本人matlab版本是r2016b。
下面是我的核心计算程序部分:
【clc;
clear
syms w
n=5;
M=sym(zeros(2*n+16,2*n+16));
%% 基本参数
theta1=0;
theta2=-pi/2;
theta3=pi/2;
theta4=pi/6+0.001;
theta5=-pi/2;
theta6=pi/2;
EI=2e6;
m=0;
jm=0;
R=0;
%%  定义系统矩阵
% arm=[1.145,0.676,4.04,4.04,0.676,1.145;         % 长度
%     5,5,20,20,5,5;                              % 质量
%     0.5,0.5,1,1,1,1];                           % 转动惯量
arm=[1.145,0.676,4.04,4.04,0.676,1.145;         % 长度
     5,5,20,20,5,5];                              % 质量;
joint=[0,100.458,80,34,126,50;                       % 定子
    0,30,43,43,30,50;
    5e4,1e6,3e5,2e5,1e6,1e6;
    0,9,1,1,1,1;
    0,1,1,1,1,4.9];

flotation=[138.057,22.56,22.74,85.54,42.81,1028.77;       % 质量
    12.24,0.6,0.6,5.018,1.73,1941.54;                     % 转动惯量
    0,0.585,2.634,0,1.916,0;
    3,3,3,4,4,5];
sum=zeros(6,1);
sum(1,1)=arm(2,1)+joint(2,1)+joint(1,2);
sum(2,1)=arm(2,2)+joint(2,2)+joint(1,3);
sum(3,1)=arm(2,3)+joint(2,3)+joint(1,4)+flotation(1,1)+flotation(1,2)+flotation(1,3);
sum(4,1)=arm(2,4)+joint(2,4)+joint(1,5)+flotation(1,4)+flotation(1,5);
sum(5,1)=arm(2,5)+joint(2,5)+joint(1,6)+flotation(1,6);
sum(6,1)=arm(2,6)+joint(2,6)+m;
xc=zeros(6,1);
xc(1,1)=(arm(2,1)*arm(1,1)/2+joint(1,2)*arm(1,1))/sum(1,1);
xc(2,1)=(arm(2,2)*arm(1,2)/2+joint(1,3)*arm(1,2))/sum(2,1);
xc(3,1)=(arm(2,3)*arm(1,3)/2+joint(1,4)*arm(1,3)+flotation(1,1)*flotation(3,1)+flotation(1,2)*flotation(3,2)+flotation(1,3)*flotation(3,3))/sum(3,1);
xc(4,1)=(arm(2,4)*arm(1,4)/2+joint(1,5)*arm(1,4)+flotation(1,4)*flotation(3,4)+flotation(1,5)*flotation(3,5))/sum(4,1);
xc(5,1)=(arm(2,5)*arm(1,5)/2+joint(1,6)*arm(1,5)+flotation(1,6)*flotation(3,6))/sum(5,1);
xc(6,1)=(arm(2,6)*arm(1,6)/2+m*arm(1,6))/sum(6,1);
den=zeros(6,1);
for i=1:6
    den(i,1)=arm(2,i)/arm(1,i);
end
%% 无量纲化
Arm=[1/arm(1,3),0;
    0,1/arm(2,3)]*arm;
Joint=[1/arm(2,3),0,0,0,0;
    0,1/arm(2,3),0,0,0;
    0,0,arm(1,3)/EI,0,0;
    0,0,0,1/(arm(2,3)*arm(1,3)^2),0;
    0,0,0,0,1/(arm(2,3)*arm(1,3)^2)]*joint;
Flotation=[1/arm(2,3),0,0,0;
    0,1/(arm(2,3)*arm(1,3)^2),0,0;
    0,0,1/arm(1,3),0;
    0,0,0,1]*flotation;
% k_0=k0*arm(1,3)/EI;
Den=den/den(3,1);
Sum=sum/arm(2,3);
Xc=xc/arm(1,3);
x_3=1/n;
x_4=arm(1,4)/(n*arm(1,3));
m=m/arm(2,3);
Jm=jm/(arm(2,3)*arm(1,3)^2);
%% 机械臂震动方程
n1=3;
n2=2;
b1=zeros(n+1,1);            % 处理机械臂上集中力
b2=zeros(n+1,1);
for i=1:n1
    b1(round(Flotation(3,i)/x_3)+1,1)= b1(round(Flotation(3,i)/x_3)+1,1)+Flotation(1,i);
end
b1(1,1)=b1(1,1)+Joint(2,3);
b1(n+1,1)=b1(n+1,1)+Joint(1,4);
for i=1:n1
    b1(round(Flotation(3,n1+i)/x_4)+1,1)= b1(round(Flotation(3,n1+i)/x_4)+1,1)+Flotation(1,n1+i);
end
b2(1,1)=b1(1,1)+Joint(2,4);
b2(n+1,1)=b1(n+1,1)+Joint(1,5);

for i=1:n+1
    M(i,1)=-x_3^4*w^2*(Den(1,1)+b1(i,1)*n)*(cos(theta2+theta3)*Arm(1,1)+cos(theta3)*Arm(1,2)+(i-1)*x_3);
    M(i,2)=-x_3^4*w^2*(Den(1,1)+b1(i,1)*n)*(cos(theta3)*Arm(1,2)+(i-1)*x_3);
    M(i,3)=-x_3^4*w^2*(Den(1,1)+b1(i,1)*n)*(i-1)*x_3;
    M(i,i+6)=1;
    M(i,i+7)=-4;
    M(i,i+8)=6-x_3^4*w^2*(Den(1,1)+b1(i,1)*n);
    M(i,i+9)=-4;
    M(i,i+10)=1;
end

for i=n+2:2*n+2
    M(i,1)=-x_4^4*w^2*(Den(4,1)+b2(i-n-1,1)*n)*(cos(theta2+theta3+theta4)*Arm(1,1)+cos(theta3+theta4)*Arm(1,2)+cos(theta4)*Arm(1,3)+(i-n-2)*x_4);
    M(i,2)=-x_4^4*w^2*(Den(4,1)+b2(i-n-1,1)*n)*(cos(theta3+theta4)*Arm(1,2)+cos(theta4)*Arm(1,3)+(i-n-2)*x_4);
    M(i,3)=-x_4^4*w^2*(Den(4,1)+b2(i-n-1,1)*n)*(cos(theta4)*Arm(1,3)+(i-n-2)*x_4);
    M(i,4)=-x_4^4*w^2*(Den(4,1)+b2(i-n-1,1)*n)*(i-n-2)*x_4;
    M(i,n+9)=-x_4^4*w^2*(Den(4,1)+b2(i-n-1,1)*n)*cos(theta4);
    M(i,i+10)=1;
    M(i,i+11)=-4;
    M(i,i+12)=6-x_4^4*w^2*(Den(4,1)+b2(i-n-1,1)*n);
    M(i,i+13)=-4;
    M(i,i+14)=1;
end
%% 边界条件
M(2*n+3,9)=1;
M(2*n+4,8)=-1;
M(2*n+4,10)=1;
M(2*n+5,4)=-Joint(3,4)*x_3^2;
M(2*n+5,n+8)=1;
M(2*n+5,n+9)=-2;
M(2*n+5,n+10)=1;
M(2*n+6,1)=-2*x_3^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta4+theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4+theta5)+...
    (Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4)+...
    (Sum(4,1)+Sum(5,1)+Sum(6,1))*(Arm(1,2)*cos(theta3)+Arm(1,1)*cos(theta2+theta3)+Arm(1,3)));
M(2*n+6,2)=-2*x_3^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta4+theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4+theta5)+...
    (Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4)+...
    (Sum(4,1)+Sum(5,1)+Sum(6,1))*(Arm(1,2)*cos(theta3)+Arm(1,3)));
M(2*n+6,3)=-2*x_3^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta4+theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4+theta5)+...
    (Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4)+...
    (Sum(4,1)+Sum(5,1)+Sum(6,1))*Arm(1,3));
M(2*n+6,4)=-2*x_3^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta4+theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4+theta5)+...
    (Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4));
M(2*n+6,5)=-2*x_3^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta4+theta5+theta6)+(Arm(1,5)*Sum(6,1)+Xc(5,1)*Sum(5,1))*cos(theta4+theta5));
M(2*n+6,6)=-2*x_3^3*w^2*Sum(6,1)*Xc(6,1)*cos(theta4+theta5+theta6);
M(2*n+6,n+7)=-1;
M(2*n+6,n+8)=2;
M(2*n+6,n+10)=-2;
M(2*n+6,n+11)=1;
M(2*n+7,n+14)=1;
M(2*n+8,n+13)=-1;
M(2*n+8,n+15)=1;
M(2*n+9,5)=-Joint(3,5)*x_4^2;
M(2*n+9,2*n+13)=1;
M(2*n+9,2*n+14)=-2;
M(2*n+9,2*n+15)=1;
M(2*n+10,1)=-2*x_4^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4)+...
    (Sum(5,1)+Sum(6,1))*(Arm(1,1)*cos(theta2+theta3+theta4)+Arm(1,2)*cos(theta3+theta4)+Arm(1,3)*cos(theta4)+Arm(1,4)));
M(2*n+10,2)=-2*x_4^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4)+...
    (Sum(5,1)+Sum(6,1))*(Arm(1,2)*cos(theta3+theta4)+Arm(1,3)*cos(theta4)+Arm(1,4)));
M(2*n+10,3)=-2*x_4^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4)+...
    (Sum(5,1)+Sum(6,1))*(Arm(1,3)*cos(theta4)+Arm(1,4)));
M(2*n+10,4)=-2*x_4^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4)+...
    (Sum(5,1)+Sum(6,1))*Arm(1,4));
M(2*n+10,5)=-2*x_4^3*w^2*(Sum(6,1)*Xc(6,1)*cos(theta5+theta6)+(Arm(1,5)*Sum(6,1)+Sum(5,1)*Xc(5,1))*cos(theta4));
M(2*n+10,6)=-2*x_4^3*w^2*Sum(6,1)*Xc(6,1)*cos(theta5+theta6);
M(2*n+10,2*n+12)=-1;
M(2*n+10,2*n+13)=2;
M(2*n+10,2*n+15)=-2;
M(2*n+10,2*n+16)=1;
%% 关节振动方程
% 第一根
M(2*n+11,1)=w^2*(Joint(2,1)*Xc(1,1)^2+Joint(1,2)*(Arm(1,1)-Xc(1,1))^2+Den(1,1)*((Arm(1,1)-Xc(1,1))^3+Xc(1,1)^3)/3+Joint(5,1)+Joint(4,2)+...
    Arm(1,1)*(Xc(6,1)*Sum(6,1)*cos(theta2+theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta2+theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta2+theta3+theta4)+(Arm(1,3)*Sum(6,1)+Arm(1,3)*Sum(5,1)+Arm(1,3)*Sum(4,1)+Xc(3,1)*Sum(3,1))*...
    cos(theta2+theta3)+(Arm(1,2)*Sum(6,1)+Arm(1,2)*Sum(5,1)+Arm(1,2)*Sum(4,1)+Arm(1,2)*Sum(3,1)+Xc(2,1)*Sum(2,1))*cos(theta2)+Arm(1,1)*(Sum(2,1)+Sum(3,1)+Sum(4,1)+Sum(5,1)+Sum(6,1)))+...
    Xc(1,1)^2*Sum(1,1))-Joint(3,1);
M(2*n+11,2)=w^2*Arm(1,1)*(Xc(6,1)*Sum(6,1)*cos(theta2+theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta2+theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta2+theta3+theta4)+(Arm(1,3)*Sum(6,1)+Arm(1,3)*Sum(5,1)+Arm(1,3)*Sum(4,1)+Xc(3,1)*Sum(3,1))*...
    cos(theta2+theta3)+(Arm(1,2)*Sum(6,1)+Arm(1,2)*Sum(5,1)+Arm(1,2)*Sum(4,1)+Arm(1,2)*Sum(3,1)+Xc(2,1)*Sum(2,1))*cos(theta2))+Joint(3,2);
M(2*n+11,3)=w^2*Arm(1,1)*(Xc(6,1)*Sum(6,1)*cos(theta2+theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta2+theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta2+theta3+theta4)+(Arm(1,3)*Sum(6,1)+Arm(1,3)*Sum(5,1)+Arm(1,3)*Sum(4,1)+Xc(3,1)*Sum(3,1))*...
    cos(theta2+theta3));
M(2*n+11,4)=w^2*Arm(1,1)*(Xc(6,1)*Sum(6,1)*cos(theta2+theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta2+theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta2+theta3+theta4));
M(2*n+11,5)=w^2*Arm(1,1)*(Xc(6,1)*Sum(6,1)*cos(theta2+theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta2+theta3+theta4+theta5));
M(2*n+11,6)=w^2*Arm(1,1)*Xc(6,1)*Sum(6,1)*cos(theta2+theta3+theta4+theta5+theta6);
% 第二根
M(2*n+12,1)=w^2*(Joint(2,2)*Xc(2,1)^2+Joint(1,3)*(Arm(1,2)-Xc(2,1))^2+Joint(5,2)+Joint(4,3)+...
    Den(2,1)*((Arm(1,2)-Xc(2,1))^3+Xc(2,1)^3)/3+Arm(1,2)*(Xc(6,1)*Sum(6,1)*cos(theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta3+theta4)+(Arm(1,3)*Sum(6,1)+Arm(1,3)*Sum(5,1)+Arm(1,3)*Sum(4,1)+Xc(3,1)*Sum(3,1))*...
    cos(theta3)+(Arm(1,1)*cos(theta2)+Arm(1,2))*(Sum(3,1)+Sum(4,1)+Sum(5,1)+Sum(6,1)))+Xc(2,1)^2*Sum(2,1)+Xc(2,1)*Arm(1,1)*cos(theta2)*Sum(2,1));
M(2*n+12,2)=w^2*(Joint(2,2)*Xc(2,1)^2+Joint(1,3)*(Arm(1,2)-Xc(2,1))^2+Joint(5,2)+Joint(4,3)+...
    Den(2,1)*((Arm(1,2)-Xc(2,1))^3+Xc(2,1)^3)/3+Arm(1,2)*(Xc(6,1)*Sum(6,1)*cos(theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta3+theta4)+(Arm(1,3)*Sum(6,1)+Arm(1,3)*Sum(5,1)+Arm(1,3)*Sum(4,1)+Xc(3,1)*Sum(3,1))*...
    cos(theta3)+Arm(1,2)*(Sum(3,1)+Sum(4,1)+Sum(5,1)+Sum(6,1)))+Xc(2,1)^2*Sum(2,1))-Joint(3,2);
M(2*n+12,3)=w^2*Arm(1,2)*(Xc(6,1)*Sum(6,1)*cos(theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta3+theta4)+(Arm(1,3)*Sum(6,1)+Arm(1,3)*Sum(5,1)+Arm(1,3)*Sum(4,1)+Xc(3,1)*Sum(3,1))*...
    cos(theta3))+Joint(3,3);
M(2*n+12,4)=w^2*Arm(1,2)*(Xc(6,1)*Sum(6,1)*cos(theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta3+theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta3+theta4));
M(2*n+12,5)=w^2*Arm(1,2)*(Xc(6,1)*Sum(6,1)*cos(theta3+theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta3+theta4+theta5));
M(2*n+12,6)=w^2*Arm(1,2)*Xc(6,1)*Sum(6,1)*cos(theta3+theta4+theta5+theta6);
% 第三根
M(2*n+13,1)=w^2*(Joint(2,3)*Xc(3,1)^2+Flotation(1,1)*(Flotation(3,1)-Xc(3,1))^2+Flotation(1,2)*(Flotation(3,2)-Xc(3,1))^2+Flotation(1,3)*(Flotation(3,3)-Xc(3,1))^2+...
    Joint(1,4)*(Arm(1,3)-Xc(3,1))^2+Den(3,1)*((Arm(1,3)-Xc(3,1))^3+Xc(3,1)^3)/3+...
    Arm(1,3)*(Xc(6,1)*Sum(6,1)*cos(theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4)+...
    (Arm(1,1)*cos(theta2+theta3)+Arm(1,2)*cos(theta3)+Arm(1,3))*(Sum(4,1)+Sum(5,1)+Sum(6,1)))+...
    Xc(3,1)^2*Sum(3,1)+Xc(3,1)*Sum(3,1)*Arm(1,1)*cos(theta2+theta3)+Xc(3,1)*Sum(3,1)*Arm(1,2)*cos(theta3)+...
    Joint(5,3)+Joint(4,4)+Flotation(2,1)+Flotation(2,2)+Flotation(2,3));
M(2*n+13,2)=w^2*(Joint(2,3)*Xc(3,1)^2+Flotation(1,1)*(Flotation(3,1)-Xc(3,1))^2+Flotation(1,2)*(Flotation(3,2)-Xc(3,1))^2+Flotation(1,3)*(Flotation(3,3)-Xc(3,1))^2+...
    Joint(1,4)*(Arm(1,3)-Xc(3,1))^2+Den(3,1)*((Arm(1,3)-Xc(3,1))^3+Xc(3,1)^3)/3+...
    Arm(1,3)*(Xc(6,1)*Sum(6,1)*cos(theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4)+...
    (Arm(1,2)*cos(theta3)+Arm(1,3))*(Sum(4,1)+Sum(5,1)+Sum(6,1)))+...
    Xc(3,1)^2*Sum(3,1)+Xc(3,1)*Sum(3,1)*Arm(1,2)*cos(theta3)+...
    Joint(5,3)+Joint(4,4)+Flotation(2,1)+Flotation(2,2)+Flotation(2,3));
M(2*n+13,3)=w^2*(Joint(2,3)*Xc(3,1)^2+Flotation(1,1)*(Flotation(3,1)-Xc(3,1))^2+Flotation(1,2)*(Flotation(3,2)-Xc(3,1))^2+Flotation(1,3)*(Flotation(3,3)-Xc(3,1))^2+...
    Joint(1,4)*(Arm(1,3)-Xc(3,1))^2+Den(3,1)*((Arm(1,3)-Xc(3,1))^3+Xc(3,1)^3)/3+...
    Arm(1,3)*(Xc(6,1)*Sum(6,1)*cos(theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4)+...
    Arm(1,3)*(Sum(4,1)+Sum(5,1)+Sum(6,1)))+...
    Xc(3,1)^2*Sum(3,1)+...
    Joint(5,3)+Joint(4,4)+Flotation(2,1)+Flotation(2,2)+Flotation(2,3))-Joint(3,3);
M(2*n+13,4)=w^2*Arm(1,3)*(Xc(6,1)*Sum(6,1)*cos(theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta4+theta5)...
    +(Arm(1,4)*Sum(6,1)+Arm(1,4)*Sum(5,1)+Xc(4,1)*Sum(4,1))*cos(theta4))+Joint(3,4);
M(2*n+13,5)=w^2*Arm(1,3)*(Xc(6,1)*Sum(6,1)*cos(theta4+theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta4+theta5));
M(2*n+13,6)=w^2*Arm(1,3)*Xc(6,1)*Sum(6,1)*cos(theta4+theta5+theta6);
a3=zeros(n+1,1);
for i=1:3
    a3(round(Flotation(3,i)/x_3)+1,1)=Flotation(1,i);
end
a3(1,1)=a3(1,1)+Joint(2,3);
a3(n+1,1)=a3(n+1,1)+Joint(1,4);
for i=2:n
    M(2*n+13,i+8)=w^2*(Den(3,1)*x_3+a3(i,1))*((i-1)*x_3-Xc(3,1));
end
M(2*n+13,9)=w^2*(Den(3,1)*x_3+a3(1,1))*(0-Xc(3,1))/2;
M(2*n+13,n+9)=w^2*(Den(3,1)*x_3+a3(n+1,1))*(Arm(1,3)-Xc(3,1))/2;
% 第四根
M(2*n+14,1)=w^2*(Joint(2,4)*Xc(4,1)^2+Flotation(1,4)*(Flotation(3,4)-Xc(4,1))^2+Flotation(1,5)*(Flotation(3,5)-Xc(4,1))^2+...
    Joint(1,5)*(R+Arm(1,4)-Xc(4,1))^2+Den(4,1)*((R+Arm(1,4)-Xc(4,1))^3-(R-Xc(4,1))^3)/3+...
    (R+Arm(1,4))*(Xc(6,1)*Sum(6,1)*cos(theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta5)...
    +(Arm(1,1)*cos(theta2+theta3+theta4)+Arm(1,2)*cos(theta3+theta4)+Arm(1,3)*cos(theta4)+Arm(1,4))*(Sum(5,1)+Sum(6,1)))+...
    Xc(4,1)^2*Sum(4,1)+Xc(4,1)*Sum(4,1)*Arm(1,1)*cos(theta2+theta3+theta4)+Xc(4,1)*Sum(4,1)*Arm(1,2)*cos(theta3+theta4)+...
    Xc(4,1)*Sum(4,1)*Arm(1,3)*cos(theta4)+Joint(5,4)+Joint(4,5)+Flotation(2,4)+Flotation(2,5));
M(2*n+14,2)=w^2*(Joint(2,4)*Xc(4,1)^2+Flotation(1,4)*(Flotation(3,4)-Xc(4,1))^2+Flotation(1,5)*(Flotation(3,5)-Xc(4,1))^2+...
    Joint(1,5)*(R+Arm(1,4)-Xc(4,1))^2+Den(4,1)*((R+Arm(1,4)-Xc(4,1))^3-(R-Xc(4,1))^3)/3+...
    (R+Arm(1,4))*(Xc(6,1)*Sum(6,1)*cos(theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta5)...
    +(Arm(1,2)*cos(theta3+theta4)+Arm(1,3)*cos(theta4)+Arm(1,4))*(Sum(5,1)+Sum(6,1)))+...
    Xc(4,1)^2*Sum(4,1)+Xc(4,1)*Sum(4,1)*Arm(1,2)*cos(theta3+theta4)+...
    Xc(4,1)*Sum(4,1)*Arm(1,3)*cos(theta4)+Joint(5,4)+Joint(4,5)+Flotation(2,4)+Flotation(2,5));
M(2*n+14,3)=w^2*(Joint(2,4)*Xc(4,1)^2+Flotation(1,4)*(Flotation(3,4)-Xc(4,1))^2+Flotation(1,5)*(Flotation(3,5)-Xc(4,1))^2+...
    Joint(1,5)*(R+Arm(1,4)-Xc(4,1))^2+Den(4,1)*((R+Arm(1,4)-Xc(4,1))^3-(R-Xc(4,1))^3)/3+...
    (R+Arm(1,4))*(Xc(6,1)*Sum(6,1)*cos(theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta5)...
    +(Arm(1,3)*cos(theta4)+Arm(1,4))*(Sum(5,1)+Sum(6,1)))+...
    Xc(4,1)^2*Sum(4,1)+...
    Xc(4,1)*Sum(4,1)*Arm(1,3)*cos(theta4)+Joint(5,4)+Joint(4,5)+Flotation(2,4)+Flotation(2,5));
M(2*n+14,4)=w^2*(Joint(2,4)*Xc(4,1)^2+Flotation(1,4)*(Flotation(3,4)-Xc(4,1))^2+Flotation(1,5)*(Flotation(3,5)-Xc(4,1))^2+...
    Joint(1,5)*(R+Arm(1,4)-Xc(4,1))^2+Den(4,1)*((R+Arm(1,4)-Xc(4,1))^3-(R-Xc(4,1))^3)/3+...
    (R+Arm(1,4))*(Xc(6,1)*Sum(6,1)*cos(theta5+theta6)+(Xc(5,1)*Sum(5,1)+Arm(1,5)*Sum(6,1))*cos(theta5)...
    +Arm(1,4)*(Sum(5,1)+Sum(6,1)))+Xc(4,1)^2*Sum(4,1)+...
    Joint(5,4)+Joint(4,5)+Flotation(2,4)+Flotation(2,5))-Joint(3,4);
M(2*n+14,5)=w^2*(R+Arm(1,4))*(Xc(6,1)*Sum(6,1)*cos(theta5+theta6)+(Xc(5,1)*Sum(5,1)+...
    Arm(1,5)*Sum(6,1))*cos(theta5))+Joint(3,5);
M(2*n+14,6)=w^2*(R+Arm(1,4))*Xc(6,1)*Sum(6,1)*cos(theta5+theta6);
a4=zeros(n+1,1);
for i=1:2
    a4(round(Flotation(3,i+3)/x_4)+1,1)=Flotation(1,i+3);
end
a4(1,1)=a4(1,1)+Joint(2,4);
a4(n+1,1)=a4(n+1,1)+Joint(1,5);
for i=2:n
    M(2*n+14,i+n+13)=w^2*(Den(4,1)*x_4+a4(i,1))*((i-1)*x_3-Xc(3,1));
end
M(2*n+14,n+14)=w^2*(Den(4,1)*x_4+a4(1,1))*(0-Xc(4,1))/2;
M(2*n+14,2*n+14)=w^2*(Den(4,1)*x_4+a4(n+1,1))*(Arm(1,4)-Xc(4,1))/2;
M(2*n+15,1)=w^2*(Joint(2,5)*Xc(5,1)^2+Joint(1,6)*(R+Arm(1,5)-Xc(5,1))^2+Flotation(1,6)*(Flotation(3,6)-Xc(5,1))^2+...
    Den(5,1)*((R+Arm(1,5)-Xc(5,1))^3-(R-Xc(5,1))^3)/3+Joint(5,5)+Joint(4,6)+Flotation(2,6)+...
    (R+Arm(1,5))*(Xc(6,1)*Sum(6,1)*cos(theta6)...
    +(Arm(1,1)*cos(theta2+theta3+theta4+theta5)+Arm(1,2)*cos(theta3+theta4+theta5)+Arm(1,3)*cos(theta4+theta5)+Arm(1,4)*cos(theta5)+Arm(1,5))*Sum(6,1))+...
    Xc(5,1)^2*Sum(5,1)+Xc(5,1)*Sum(5,1)*Arm(1,1)*cos(theta2+theta3+theta4+theta5)+Xc(5,1)*Sum(5,1)*Arm(1,2)*cos(theta3+theta4+theta5)+...
    Xc(5,1)*Sum(5,1)*Arm(1,3)*cos(theta4+theta5)+Xc(5,1)*Sum(5,1)*Arm(1,4)*cos(theta5));
M(2*n+15,2)=w^2*(Joint(2,5)*Xc(5,1)^2+Joint(1,6)*(R+Arm(1,5)-Xc(5,1))^2+Flotation(1,6)*(Flotation(3,6)-Xc(5,1))^2+...
    Den(5,1)*((R+Arm(1,5)-Xc(5,1))^3-(R-Xc(5,1))^3)/3+Joint(5,5)+Joint(4,6)+Flotation(2,6)+...
    (R+Arm(1,5))*(Xc(6,1)*Sum(6,1)*cos(theta6)...
    +(Arm(1,2)*cos(theta3+theta4+theta5)+Arm(1,3)*cos(theta4+theta5)+Arm(1,4)*cos(theta5)+Arm(1,5))*Sum(6,1))+...
    Xc(5,1)^2*Sum(5,1)+Xc(5,1)*Sum(5,1)*Arm(1,2)*cos(theta3+theta4+theta5)+...
    Xc(5,1)*Sum(5,1)*Arm(1,3)*cos(theta4+theta5)+Xc(5,1)*Sum(5,1)*Arm(1,4)*cos(theta5));
M(2*n+15,3)=w^2*(Joint(2,5)*Xc(5,1)^2+Joint(1,6)*(R+Arm(1,5)-Xc(5,1))^2+Flotation(1,6)*(Flotation(3,6)-Xc(5,1))^2+...
    Den(5,1)*((R+Arm(1,5)-Xc(5,1))^3-(R-Xc(5,1))^3)/3+Joint(5,5)+Joint(4,6)+Flotation(2,6)+...
    (R+Arm(1,5))*(Xc(6,1)*Sum(6,1)*cos(theta6)...
    +(Arm(1,3)*cos(theta4+theta5)+Arm(1,4)*cos(theta5)+Arm(1,5))*Sum(6,1))+Xc(5,1)^2*Sum(5,1)+...
    Xc(5,1)*Sum(5,1)*Arm(1,3)*cos(theta4+theta5)+Xc(5,1)*Sum(5,1)*Arm(1,4)*cos(theta5));
M(2*n+15,4)=w^2*(Joint(2,5)*Xc(5,1)^2+Joint(1,6)*(R+Arm(1,5)-Xc(5,1))^2+Flotation(1,6)*(Flotation(3,6)-Xc(5,1))^2+...
    Den(5,1)*((R+Arm(1,5)-Xc(5,1))^3-(R-Xc(5,1))^3)/3+Joint(5,5)+Joint(4,6)+Flotation(2,6)+...
    (R+Arm(1,5))*(Xc(6,1)*Sum(6,1)*cos(theta6)...
    +(Arm(1,4)*cos(theta5)+Arm(1,5))*Sum(6,1))+Xc(5,1)^2*Sum(5,1)+...
    Xc(5,1)*Sum(5,1)*Arm(1,4)*cos(theta5));
M(2*n+15,5)=w^2*(Joint(2,5)*Xc(5,1)^2+Joint(1,6)*(R+Arm(1,5)-Xc(5,1))^2+Flotation(1,6)*(Flotation(3,6)-Xc(5,1))^2+...
    Den(5,1)*((R+Arm(1,5)-Xc(5,1))^3-(R-Xc(5,1))^3)/3+Joint(5,5)+Joint(4,6)+Flotation(2,6)+...
    (R+Arm(1,5))*(Xc(6,1)*Sum(6,1)*cos(theta6)...
    +Arm(1,5)*Sum(6,1))+Xc(5,1)^2*Sum(5,1))-Joint(3,5);
M(2*n+15,6)=w^2*(R+Arm(1,5))*(Xc(6,1)*Sum(6,1)*cos(theta6))+Joint(3,6);

M(2*n+16,1)=w^2*(Joint(2,6)*Xc(6,1)^2+m*(R+Arm(1,6)-Xc(6,1))^2+...
    Den(6,1)*((R+Arm(1,6)-Xc(6,1))^3-(R-Xc(6,1))^3)/3+Joint(5,6)+Jm+...
    Xc(6,1)*(Xc(6,1)*Sum(6,1)...
    +(Arm(1,1)*cos(theta2+theta3+theta4+theta5+theta6)+Arm(1,2)*cos(theta3+theta4+theta5+theta6)+...
    Arm(1,3)*cos(theta4+theta5+theta6)+Arm(1,4)*cos(theta5+theta6)+Arm(1,5)*cos(theta6))*Sum(6,1)));
M(2*n+16,2)=w^2*(Joint(2,6)*Xc(6,1)^2+m*(R+Arm(1,6)-Xc(6,1))^2+...
    Den(6,1)*((R+Arm(1,6)-Xc(6,1))^3-(R-Xc(6,1))^3)/3+Joint(5,6)+Jm+...
    Xc(6,1)*(Xc(6,1)*Sum(6,1)...
    +(Arm(1,2)*cos(theta3+theta4+theta5+theta6)+...
    Arm(1,3)*cos(theta4+theta5+theta6)+Arm(1,4)*cos(theta5+theta6)+Arm(1,5)*cos(theta6))*Sum(6,1)));
M(2*n+16,3)=w^2*(Joint(2,6)*Xc(6,1)^2+m*(R+Arm(1,6)-Xc(6,1))^2+...
    Den(6,1)*((R+Arm(1,6)-Xc(6,1))^3-(R-Xc(6,1))^3)/3+Joint(5,6)+Jm+...
    Xc(6,1)*(Xc(6,1)*Sum(6,1)+(Arm(1,3)*cos(theta4+theta5+theta6)+Arm(1,4)*cos(theta5+theta6)+Arm(1,5)*cos(theta6))*Sum(6,1)));
M(2*n+16,4)=w^2*(Joint(2,6)*Xc(6,1)^2+m*(R+Arm(1,6)-Xc(6,1))^2+...
    Den(6,1)*((R+Arm(1,6)-Xc(6,1))^3-(R-Xc(6,1))^3)/3+Joint(5,6)+Jm+...
    Xc(6,1)*(Xc(6,1)*Sum(6,1)+(Arm(1,4)*cos(theta5+theta6)+Arm(1,5)*cos(theta6))*Sum(6,1)));
M(2*n+16,5)=w^2*(Joint(2,6)*Xc(6,1)^2+m*(R+Arm(1,6)-Xc(6,1))^2+...
    Den(6,1)*((R+Arm(1,6)-Xc(6,1))^3-(R-Xc(6,1))^3)/3+Joint(5,6)+Jm+...
    Xc(6,1)*(Xc(6,1)*Sum(6,1)+Arm(1,5)*cos(theta6)*Sum(6,1)));
M(2*n+16,6)=w^2*(Joint(2,6)*Xc(6,1)^2+m*(R+Arm(1,6)-Xc(6,1))^2+...
    Den(6,1)*((R+Arm(1,6)-Xc(6,1))^3-(R-Xc(6,1))^3)/3+Joint(5,6)+Jm+...
    Xc(6,1)*Xc(6,1)*Sum(6,1))-Joint(3,6);

%% 求解
% det(M)
f=double(solve(det(M)));
i=length(f);
ff=[];
for j=1:i
    if abs(imag(f(j)))>eps
    else
        if real(f(j))>=eps
            fre=f(j);
            ff=[ff fre];
        else
        end
    end
end
frequency=ff';
tt=frequency*(EI/den(3,1))^(1/2)/(2*pi*arm(1,3)^2);
w1=frequency(1,1)*(EI/den(3,1))^(1/2)/(2*pi*arm(1,3)^2)
w2=frequency(2,1)*(EI/den(3,1))^(1/2)/(2*pi*arm(1,3)^2)
M_w1=double(subs(M,'w',frequency(1,1)));
M_w2=double(subs(M,'w',frequency(2,1)));
y=zeros(2*n+16,2);
r1=rank(M_w1)
r2=rank(M_w2)
y(:,1)=null(M_w1,'r1');
y(:,2)=null(M_w2,'r2');
u=zeros(2*n+8,2);
uu=y*diag([2*pi/(180*y(1,1)),5*pi/(180*y(1,2))]);
% uu=y*diag([1,1]);
for i=1:6
    u(i,:)=uu(i,:);
end

for i=7:n+7
    u(i,1)=arm(1,3)*uu(i+2,1);
    u(i,2)=arm(1,3)*uu(i+2,2);
end
for i=n+8:2*n+8
    u(i,1)=arm(1,3)*uu(i+6,1);
    u(i,2)=arm(1,3)*uu(i+6,2);
end

r=0.2;
x3=arm(1,3)/n;
x4=arm(1,4)/n;
width=3;
for j=1:2
    figure(j);
    plot([0,(r+arm(1,1))*cos(theta1+u(1,j))],[0,(r+arm(1,1))*sin(theta1+u(1,j))],'LineWidth',width);
    hold on
    xr2=(r+arm(1,1))*cos(theta1+u(1,j));
    yr2=(r+arm(1,1))*sin(theta1+u(1,j));
    s2=theta1+theta2+u(1,j)+u(2,j);
    plot([xr2,xr2+(r+arm(1,2))*cos(s2)],...
        [yr2,yr2+(r+arm(1,2))*sin(s2)],'LineWidth',width);
    xr3=xr2+(r+arm(1,2))*cos(s2);
    yr3=yr2+(r+arm(1,2))*sin(s2);
   
    plot([xr3,xr3+r*cos(theta1+theta2+theta3+u(1,j)+u(2,j)+u(3,j))],...
        [yr3,yr3+r*sin(theta1+theta2+theta3+u(1,j)+u(2,j)+u(3,j))],'LineWidth',width);  % 第三个关节图
    s3=theta1+theta2+theta3+u(1,j)+u(2,j)+u(3,j);
    for i=1:n
        plot([xr3+(r+(i-1)*x3)*cos(s3),xr3+(r+i*x3)*cos(s3)],...
            [yr3+(r+(i-1)*x3)*sin(s3)+u(i+6,j),yr3+(r+i*x3)*sin(s3)+u(i+7,j)],'k','LineWidth',width);
    end
    xr4=xr3+(r+n*x3)*cos(s3);
    yr4=yr3+(r+n*x3)*sin(s3)+u(n+7,j);
    s4=theta1+theta2+theta3+theta4+u(1,j)+u(2,j)+u(3,j)+u(4,j);
   
    plot([xr4,xr4+r*cos(s4)],[yr4,yr4+r*sin(s4)],'r','LineWidth',width);             % 第四个关节图
    for i=1:n
        plot([xr4+(r+(i-1)*x4)*cos(s4),xr4+(r+i*x4)*cos(s4)],...
            [yr4+(r+(i-1)*x4)*sin(s4)+u(i+n+7,j),yr4+(r+i*x4)*sin(s4)+u(i+n+8,j)],'k','LineWidth',width);
    end
    xr5=xr4+(r+n*x4)*cos(s4);
    yr5=yr4+(r+n*x4)*sin(s4)+u(i+n+8,j);
    s5=theta1+theta2+theta3+theta4+theta5+u(1,j)+u(2,j)+u(3,j)+u(4,j)+u(5,j);
    plot([xr5,xr5+(r+arm(1,5))*cos(s5)],[yr5,yr5+(r+arm(1,5))*sin(s5)],'LineWidth',width);
    xr6=xr5+(r+arm(1,5))*cos(s5);
    yr6=yr5+(r+arm(1,5))*sin(s5);
    s6=theta1+theta2+theta3+theta4+theta5+theta6+u(1,j)+u(2,j)+u(3,j)+u(4,j)+u(5,j)+u(6,j);
    plot([xr6,xr6+(r+arm(1,6))*cos(s6)],[yr6,yr6+(r+arm(1,6))*sin(s6)],'LineWidth',width);
   

    plot([0,(r+arm(1,1))*cos(theta1)],[0,(r+arm(1,1))*sin(theta1)],'-.','LineWidth',width);
    hold on
    Xr2=(r+arm(1,1))*cos(theta1);
    Yr2=(r+arm(1,1))*sin(theta1);
    plot([Xr2,Xr2+(r+arm(1,2))*cos(theta1+theta2)],[Yr2,Yr2+(r+arm(1,2))*sin(theta1+theta2)],'-.','LineWidth',width);
    Xr3=Xr2+(r+arm(1,2))*cos(theta1+theta2);
    Yr3=Yr2+(r+arm(1,2))*sin(theta1+theta2);
    t3=theta1+theta2+theta3;
    plot([Xr3,Xr3+(r+arm(1,3))*cos(t3)],[Yr3,Yr3+(r+arm(1,3))*sin(t3)],'-.','LineWidth',width);
    Xr4=Xr3+(r+arm(1,3))*cos(t3);
    Yr4=Yr3+(r+arm(1,3))*sin(t3);
    t4=theta1+theta2+theta3+theta4;
    plot([Xr4,Xr4+(r+arm(1,4))*cos(t4)],[Yr4,Yr4+(r+arm(1,4))*sin(t4)],'-.','LineWidth',width);
    Xr5=Xr4+(r+arm(1,4))*cos(t4);
    Yr5=Yr4+(r+arm(1,4))*sin(t4);
    t5=theta1+theta2+theta3+theta4+theta5;
    plot([Xr5,Xr5+(r+arm(1,5))*cos(t5)],[Yr5,Yr5+(r+arm(1,5))*sin(t5)],'-.','LineWidth',width);
    Xr6=Xr5+(r+arm(1,5))*cos(t5);
    Yr6=Yr5+(r+arm(1,5))*sin(t5);
    t6=theta1+theta2+theta3+theta4+theta5+theta6;
    plot([Xr6,Xr6+(r+arm(1,6))*cos(t6)],[Yr6,Yr6+(r+arm(1,6))*sin(t6)],'-.','LineWidth',width);  
    set(gcf,'color','w');
    xlabel('X/m','fontsize',16);
    ylabel('Y/m','fontsize',16);
    title([num2str(j),'阶振型图'],'fontsize',20);
       axis equal;
end

这个是程序制作成exe打开后结果。

这个是程序制作成exe打开后结果。
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