Se1=-w3*l4*sin(Q4-Q5)/cos(Q5);
/*Q511=(Q41*Q41*l4*sin(Q4)+Q51*Q51*l5*sin(Q5)-Q411*Q411*l4*cos(Q4))/(l5*cos(Q5));*/
Se11=-(a3*l4*sin(Q4-Q5)+w3*w3*l4*cos(Q4-Q5)-w4*w4*l5)/cos(Q5); line(100,200,500,200); setcolor(5);
line(492,201,500,200); line(492,199,500,200); line(100,10,100,350); setcolor(5);
line(99,18,100,10); line(101,18,100,10);
putpixel(100+Q2*180/PI,200-Se/5,1); /*绘制位移曲线*/ putpixel(100+Q2*180/PI,200-Se1/100,2); /*绘制速度曲线*/
putpixel(100+Q2*180/PI,200-Se11/100,4);} /*绘制加速度曲线*/ setcolor(10);
settextjustify(CENTER_TEXT,0);
outtextxy(300,300,\ outtextxy(300,330,\ outtextxy(300,360,\
/* outtextxy(300,50,\JIASUDU WEIYI GUAN XI QU XIAN TU\
outtextxy(300,50,\ getch(); closegraph();}
数据
角位移 位移 速度 角加速度 加速度 0 -71.142 304.647 8.723 -9953.699 5 -75.351 401.248 7.939 -9740.870 10 -80.667 490.578 7.002 -9468.886 15 -87.004 572.911 5.950 -9140.816 20 -94.281 648.534 4.820 -8759.899 25 -102.420 717.730 3.645 -8329.566 30 -111.345 780.766 2.453 -7853.440 35 -120.986 837.896 1.272 -7335.324
40 -131.273 889.345 0.125 -6779.141 45 -142.139 935.321 -0.968 -6188.921
50 -153.521 976.003 -1.990 -5568.732 55 -165.357 1011.550 -20924 -4922.648 60 -177.586 1042.098 -3.759 -4254.695 65 -190.149 1067.764 -4.482 -3568.840 70 -202.990 1088.634 -5.086 -2868.893 75 -216.050 80 -229.276 85 -242.611 90 -256.000 95 -269.389 100 -282.724 105 -295.950 110 -309.010 115 -321.851 120 -334.414 125 -346.643 130 -358.479 135 -369.861 140 -380.727 145 -391.014 150 -400.655 155 -409.580 160 -417.719 165 -424.996 170 -431.333 175 -436.649 180 -440.858 185 -443.872 190 -445.602 195 -445.954 200 -444.835 205 -442.156 210 -437.831 215 -431.781 220 -423.944 1104.795 1116.298 1123.185 1125.473 1123.182 1116.297 1104.794 1088.633 1067.761 1042.097 1011.550 976.002 935.319 889.344 837.894 780.766 717.729 648.534 572.911 490.578 401.248 304.647 200.530 88.711 -30.899 -158.241 -293.048 -434.768 -582.479 -734.799 -5.563 -5.907 -6.115 -6.185 -6.115 -5.907 -5.563 -5.086 -4.482 -3.759 -2.924 -1.990 -0.968 0.125 1.272 2.453 3.645 4.820 5.950 7.002 7.939 8.723 9.313 9.667 9.741 9.495 8.893 7.909 6.526 4.748 -2158.586 -1441.448 -720.852 0.004 718.097 1430.578 2134.752
2828.065
3508.075 4172.396 4818.689 5444.576 6047.605 6625.189 7174.511 7692.463 8175.566 8619.898 9021.038 9374.011 9673.283
9912.797 10086.062 10186.335
10206.849 10141.209 9983.816 9730.355 9378.272 8927.134
225 -414.275 -889.798 2.601 8378.840 230 -402.757 -1044.928 0.136 7737.403
235 -389.408 -1196.994 -2.562 7008.511 240 -374.285 -1342.188 -5.381 6198.696 245 -357.495 -1476.201 -8.178 5314.545 250 -339.200 -1594.439 -10.791 4362.119 255 -319.613 260 -299.004 265 -277.684 270 -256.000 275 -234.316 280 -212.996 285 -192.387 290 -172.800 240 -374.285 245 -357.495 250 -339.200 255 -319.613 260 -299.004 265 -277.684 270 -256.000 275 -234.316 280 -212.996 285 -192.387 290 -172.800 295 -154.505 300 -137.715 305 -122.592 310 -109.243 315 -97.725 320 -88.056 325 -80.219 330 -74.169 335 -69.844 340 -67.165 345 -66.046 -1692.325 -1765.690 -1811.176 -1125.473 -1811.174 -1765.694 -1692.326 -1594.441 -1342.188 -1476.201 -1594.439 -1692.325 -1765.690 -1811.176 -1125.473 -1811.174 -1765.694 -1692.326 -1594.441 -1476.203 -1342.190 -1196.996 -1044.929 -889.799 -734.800 -582.480 -434.768 -293.048 -158.241 -30.899 -13.053 3347.051 -14.803 2275.500 -15.912 1155.762 -6.185 0.005 -15.912 -1174.578 -14.803 -2346.066 -13.053 -3489.404
-10.791 -4579.275
-5.381 6198.696 -8.178 5314.545 -10.791 4362.119 -13.053 3347.051 -14.803 2275.500 -15.912 1155.762 -6.185 0.005 -15.912 -1174.578 -14.803 -2346.066 -13.053 -3489.404 -10.791 -4579.275 -8.178 -5593.049 -5.381 -6513.247 -2.562 -7328.699 0.136 -8034.470 2.601 -8630.820 4.748 -9121.607 6.526 -9512.740 7.909 -9810.804 8.893 -10022.228 9.495 -10152.754 9.741 -10207.297
350 -66.398 88.710 9.667 -10189.990
2、动画模拟程序
/***************************运动模拟图函数*******************/
void dtmn()
{
int gd=DETECT,gmode,n;
initgraph(&gd,&gmode,\ cleardevice(); do
{setbkcolor(0); sgd();
}while(!kbhit()); getch(); }
/****************************导轨函数 *********************/ void slide(float x0,float y0,float x1,float h) {float xr; int i,n;
xr=x0+x1;
line(x0,y0,xr,y0); n=x1/h;
for(i=0;i<=n;i++)
{moveto(x0+i*h,y0+h); lineto(x0+(i+1)*h,y0); } }
/************************摇块函数*************************/ void pist(float x0,float y0,float l,float h,float theta) {float x,y;
x=x0-cos(theta)*l/2+h/2*sin(theta); y=y0+l/2*sin(theta)+h/2*cos(theta); moveto(x,y);
linerel(l*cos(theta),-l*sin(theta)); /***绘制轮廓线******/ linerel(-h*sin(theta),-h*cos(theta)); linerel(-l*cos(theta),l*sin(theta)); lineto(x,y); }
/*************************支点函数*********************/ void pirot(float x0,float y0,float l) {/*float PI=3.1415926;*/ float x,y; int i,n; int h=4; setcolor(4); circle(x0,y0,3); setcolor(9); x=x0-l/2; y=y0+sin(PI/3)*l; moveto(x0,y0); lineto(x,y); linerel(18,0); lineto(x0,y0); n=l/4;
for(i=0;i<=n;i++) {moveto(x+i*h,y+h); lineto(x+(i+1)*h,y); } }
/************************连杆,摇块,导轨函数 ***************/ void sgd()
{int i;
int x04,y04,x02,y02; int l02a=l1/2; int l04b=l4/2;
float xa,ya,xb,yb,xc,yc,l; float lbc=l5/2; float ss,theta;