K=1.5;
r=0.286;%半径 v0=50;%初速度
v0=50/3.6;%统一单位 w0=v0/r;%初始角速度 beta=(0-w0)/5;%角加速度 t=0:0.1:5; w=w0+beta*t; t1=0; for i=1:50
M(i)=DeltJ*(w(i)^2-w(i+1)^2)/(2*w(i)*0.1+beta*0.1*(2*t1+0.1));%各个时间段相应的扭矩 t1=t1+0.1; end M; I=K*M plot(I,’k’) 2.
DeltJ=12;%补偿惯量 K=1.5;
r=0.286;%半径 v0=50;%初速度
v0=50/3.6;%统一单位 w0=v0/r;%初始角速度 beta=(0-w0)/5;%角加速度 t=0:0.5:5; w=w0+beta*t; t1=0; for i=1:10
M(i)=DeltJ*(w(i)^2-w(i+1)^2)/(2*w(i)*0.5+beta*0.5*(2*t1+0.5)); t1=t1+0.5; end M; I=K*M plot(I,’k’) 3.
DeltJ=12;%补偿惯量 K=1.5;
r=0.286;%半径 v0=50;%初速度
v0=50/3.6;%统一单位 w0=v0/r;%初始角速度
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beta=(0-w0)/5;%角加速度 t=0:1:5;
w=w0+beta*t; t1=0; for i=1:5
M(i)=DeltJ*(w(i)^2-w(i+1)^2)/(2*w(i)*1+beta*1*(2*t1+1)); t1=t1+1; end M; I=K*M plot(I,’k’)
误差分析程序： 1.步长为0.1s时： DeltJ=12;%补偿惯量 r=0.286;%半径 v0=50;%初速度
v0=50/3.6;%统一单位 w0=v0/r;%初始角速度 beta=(0-w0)/5;%角加速度 t=0:0.1:5; w=w0+beta*t; t1=0; for i=1:50
m(i)=DeltJ*(w(i)^2-w(i+1)^2)/(2*w(i)*0.1+beta*0.1*(2*t1+0.1)); t1=t1+0.1; end
for i=1:50
e(i)=52*(w(i)^2-w(i+1)^2)/2; end
e=sum(e); for i=1:50
e1(i)=40*(w(i)^2-w(i+1)^2)/2; end
e1=sum(e1);
e2=m.*w(1:50)*0.1; e3=abs(e2); e3=sum(e3); e0=e1+e3; (e-e0)/e
2.步长为0.5s时： DeltJ=12;%补偿惯量 r=0.286;%半径
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v0=50;%初速度
v0=50/3.6;%统一单位 w0=v0/r;%初始角速度 beta=(0-w0)/5;%角加速度 t=0:0.5:5; w=w0+beta*t t1=0; for i=1:10
m(i)=DeltJ*(w(i)^2-w(i+1)^2)/(2*w(i)*0.5+beta*0.5*(2*t1+0.5)); t1=t1+0.5; end
for i=1:10
e(i)=52*(w(i)^2-w(i+1)^2)/2; end
e=sum(e); for i=1:10
e1(i)=40*(w(i)^2-w(i+1)^2)/2; end
e1=sum(e1);
e2=m.*w(1:10)*0.5; e3=abs(e2); e3=sum(e3); e0=e1+e3; (e-e0)/e
3.步长为1s时：
DeltJ=12;%补偿惯量 r=0.286;%半径 v0=50;%初速度
v0=50/3.6;%统一单位 w0=v0/r;%初始角速度 beta=(0-w0)/5;%角加速度 t=0:1:5;
w=w0+beta*t; t1=0; for i=1:5
m(i)=DeltJ*(w(i)^2-w(i+1)^2)/(2*w(i)*1+beta*1*(2*t1+1)); t1=t1+1; end
for i=1:5
e(i)=52*(w(i)^2-w(i+1)^2)/2; end
e=sum(e); for i=1:5
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e1(i)=40*(w(i)^2-w(i+1)^2)/2; end
e1=sum(e1); e2=m.*w(1:5)*1; e3=abs(e2); e3=sum(e3); e0=e1+e3; (e-e0)/e
附模型四程序：
J=48;%等效转动惯量 J1=35;%机械惯量
f=[514.3300 513.7900 513.2400 513.7900 513.7900 513.2400 512.6900 512.6900 512.1500 512.1500 512.1500 512.1500 511.6000 511.6000 511.0600 510.5100 510.5100 510.5100 511.0600 510.5100 509.4200 509.4200 509.4200 508.8700 508.3300 507.2300 507.2300 507.2300 507.2300 506.6900 504.5000 503.9600 503.4100 502.8700 502.8700 501.2300 500.1400 499.5900 499.0400 499.0400 497.9500 497.9500 497.4100 497.4100 496.8600 495.2200 494.6800 493.5800 492.4900 491.4000 489.7600 489.2200 488.6700 488.1200 488.1200 485.3900 484.3000 483.2100 482.1200 481.5700 481.0300 479.9300 479.3900 479.3900 478.8400 477.2000 477.2000 476.6600 476.1100 475.0200 471.2000 468.4700 465.1900 463.5500 461.9200 459.7300 458.6400 458.0900 457.5500 457.5500 455.3600 455.3600 455.3600 454.8200 454.2700 451.5400 451.0000 450.4500 449.9000 449.3600 448.2700 447.7200 447.1700 446.6300 446.0800 443.9000 443.3500 442.8100 442.2600 441.7100 441.7100 441.1700 441.1700 440.6200 440.0800 438.4400 438.4400 437.8900 437.3500 436.8000 434.6200 433.5200 432.9800 432.9800 432.4300 430.7900 430.2500 429.7000 428.6100 427.5200 425.8800 425.8800 425.8800 425.3300 424.7900 422.6000 422.6000 422.0600 421.5100 420.4200 419.8700 418.7800 417.6900 416.6000 416.0500 414.9600 413.8700 413.3200 413.3200 412.7800 409.5000 409.5000 408.9500 408.9500 408.9500 406.7700 405.6800 405.1300 404.5900 404.5900 403.4900 402.9500 402.4000 401.3100 400.2200 398.0300 397.4900 396.9400 396.4000 396.4000 394.2100 393.1200 392.5700
392.5700 392.0300
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513.7900 512.1500 511.6000 509.4200 507.7800 505.6000 502.3200 498.5000 496.3100 490.8500 487.0300 481.5700 478.3000 474.4700 461.3700 456.4600 453.1800 448.8100 445.5400 441.7100 438.9800 436.2500 431.3400 426.9700 423.7000 420.4200 416.0500 411.6800 408.4100 404.0400 399.6700 395.8500 391.4800 513.2400 512.6900 511.6000 509.4200 507.7800 505.0500 502.3200 498.5000 495.7700 490.3100 486.4900 481.5700 477.7500 473.9300 460.2800 455.9100 452.6300 448.2700 444.9900 441.7100 438.4400 435.7100 430.7900 426.4300 423.1500 419.8700 415.5100 410.5900 407.8600 403.4900 398.5800 395.3000 390.9400
390.9400 390.3900 389.8400 389.3000 388.7500 388.2100 387.6600 386.5700 386.0200 386.0200 386.0200 385.4800 384.3800 382.7500 382.2000 382.2000 381.1100 380.0200 379.4700 379.4700 380.0200 378.9200 377.8300 376.7400 376.1900 376.1900 375.1000 374.5600 373.4600 372.9200 372.9200 372.3700 372.3700 371.8300 371.2800 370.7300 370.7300 370.1900 369.6400 368.5500 367.4600 366.9100 366.3700 366.3700 365.8200 365.2700 364.7300 364.7300 364.1800 363.6400 362.5400 361.4500 360.9100 359.8100 359.2700 358.7200 358.7200 358.1800 357.6300 357.0800 356.5400 355.9900 355.4500 354.9000 354.3500 353.8100 353.2600 353.2600 352.7200 352.1700 351.6200 351.6200 351.0800 350.5300 349.4400 348.3500 347.8000 346.7100 346.1600 345.6200 345.6200 345.6200 345.0700 344.5300 344.5300 343.9800 342.8900 341.2500 340.1600 339.6100 339.0700 339.0700 338.5200 337.9700 337.4300 336.8800 336.8800 336.3400 335.7900 334.7000 334.1500 333.6100 333.0600 332.5100 331.4200 330.8800 330.3300 330.3300 330.3300 329.7800 329.2400 328.1500 327.6000 326.5100 325.9600 325.4200 324.8700 324.3200 323.7800 323.7800 323.2300 322.6900 321.5900 321.0500 320.5000 319.9600 318.8600 318.3200 317.7700 317.2300 316.6800 316.1300 315.5900 315.0400 314.5000 313.9500 313.9500 313.9500 313.4000 312.3100 311.2200 310.1300 309.5800 309.0400 309.0400 309.0400 308.4900 307.9400 306.8500 306.3100 306.3100 306.3100 305.2100 304.1200 303.0300 303.0300 302.4800 301.9400 301.3900 300.8500 300.8500 300.3000 299.2100 298.1200 297.5700 297.0200 296.4800 295.3900 294.8400 294.8400 294.2900 293.7500 292.6600 292.6600 292.1100 292.1100 291.0200 290.4700 289.9300 289.9300 289.3800 288.2900 287.2000 286.6500 286.1000 286.1000 285.5600 285.0100 285.0100 283.9200 283.3700 282.2800 282.2800 281.7400 281.1900 280.6400 279.5500 279.0100 278.4600 277.9100 277.9100 277.3700 276.2800 275.7300 275.1800 274.6400 274.0900 273.5500 273.0000 272.4500 271.9100 271.3600 270.8200 269.7200 269.1800 269.1800 268.6300 268.0900 266.9900 266.4500 265.9000 265.3600 264.2600 263.7200 263.7200 263.7200 263.1700 262.6300 261.5300 260.9900 260.4400 259.9000 259.9000 258.8000 258.2600 257.7100 257.1700];%转速 f=f/60;%统一单位 w=2*pi*f;%角动量 for i=1:467
e(i)=J*(w(i)^2-w(i+1)^2)/2; %路试能量 end
e=sum(e) for i=1:467
e1(i)=J1*(w(i)^2-w(i+1)^2)/2; %基础能量 end
e1=sum(e1)
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