matlab曲柄滑块机构的运动学仿真

《系统仿真与matlab》综合试题题目：曲柄滑块机构的运动学仿真编号：______________ 21 _____________难度系数：___________________________姓名______________________班级_________________学号__________________联系方式______________成绩________________________________《系统仿真与matlab 》综合试题 (1)一、引言........................................................ 3.二、运动学分析 (3)1、实例题目 (3)2、运动分析 (3)三、M ATLAB程序编写 (5)四、使用指南和实例仿真 (8)五、结语10亠、引言曲柄滑块机构是指用曲柄和滑块来实现转动和移动相互转换的平面连杆机构，也称曲柄连杆机构。

曲柄滑块机构广泛应用于往复活塞式发动机、压缩机、冲床等的主机构中，把往复移动转换为不整周或整周的回转运动；压缩机、冲床以曲柄为主动件，把整周转动转换为往复移动。

这里使用运动学知识，对其运动进行解析，并用MATL AE为其设计仿真模块。

1、运动学分析1、实例题目对图示单缸四冲程发动机中常见的曲柄滑块机构进行运动学仿真。

已知连杆长度：D 0.1m , r3 0.4m，连杆的转速：2 2 , 3 3 , 设曲柄r2以匀速旋转，2 50r/s。

初始条件：2 3 0。

仿真以2为输入，计算3和A，仿真时间0.5 s。

2、运动分析建立封闭矢量方程:r2+r3=r1 (9)将(9)式分解到x与y轴坐标上，得到：r2cos 0 2+r3cos 0 3=r1r2sin 0 2+r3sin 0 3=0 (10)可得：r1=r2cos 0 2+r3cos 0 3.0 3-arcsin(r2r3) (11) 对(10)式对时间求导得：-r2 w2sin 0 2+3 w 3sin 0 3=v1r2 w2cos0 2+3w3cos0 3=0 (12) 将上式用矩阵形式表示，令：A=[ r3sin 0 3 1-r3cos0 3 0]X=[ w3v1]B=[-r2 w2sin 0 2r2 w2cos 0 2]则(12)可表示为：AX二B (13)从而可解出w3与v1、 MATLAB 程序编写源代码如下：function varargout = z1(varargin)% Z1 MATLAB code for z1.fig% Z1, by itself, creates a new Z1 or raises the existing% singleton*.%% H = Z1 returns the handle to a new Z1 or the handle to% the existing singleton*.%% Z1('CALLBACK',hObject,eventData,handles,...) calls the local% function named CALLBACK in Z1.M with the given input arguments.%% Z1('Property','Value',...) creates a new Z1 or raises the% existing singleton*. Starting from the left, property value pairs are% applied to the GUI before z1_OpeningFcn gets called. An% unrecognized property name or invalid value makes property application% stop. All inputs are passed to z1_OpeningFcn via varargin.%% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one% instance to run (singleton)".%% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help z1% Last Modified by GUIDE v2.5 29-Dec-2016 22:57:13% Begin initialization code - DO NOT EDIT gui_Singleton = 1;gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn',z1_OpeningFcn, ...[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});elsegui_mainfcn(gui_State, varargin{:});end% End initialization code - DO NOT EDIT 'gui_OutputFcn', 'gui_LayoutFcn', 'gui_Callback', z1_OutputFcn, ...[] , ...[]); if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});endif nargout% --- Executes just before z1 is made visible.function z1_OpeningFcn(hObject, eventdata, handles, varargin)% This function has no output args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB % handles s tructure with handles and user data (see GUIDATA)% varargin command line arguments to z1 (see VARARGIN)% Choose default command line output for z1 handles.output = hObject;% Update handles structure guidata(hObject, handles);axes(handles.axes3) map1=imread('1.bmp');imshow(map1)% UIWAIT makes z1 wait for user response (see UIRESUME)% uiwait(handles.figure1);% --- Outputs from this function are returned to the command line. function varargout =z1_OutputFcn(hObject, eventdata, handles)% varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA)% Get default command line output from handles structure varargout{1} = handles.output;% --- Executes on button press in pushbuttonRun.function pushbuttonRun_Callback(hObject, eventdata, handles) %主要计算程序r2=0.1;%单位mr3=0.4;%单位momiga2=str2double(get(handles.edit1,'String'));; % 单位rad/s x11=1:500 %单位msfor i=1:500theta2(i)=i*omiga2 /1000;theta3(i)=asin(-r2 /r3*sin(theta2(i))); B=[-r2*omiga2*sin(theta2(i));r2*omiga2*cos(theta2(i))];A=[r3*sin(theta3(i)) 1;-r3*cos(theta3(i)) 0];X=inv(A)*B;omiga3(i)=X(1,1);v3(i)=X(2,1);end axes(handles.axes1) %制表1 plot(x11/1000,omiga3);xlabel('时间(t/s)')ylabel('连杆角速度3 3 (rad/s)') axes(handles.axes2) %制表2 plot(x11/1000,v3);xlabel(' 时间( t/s) ') ylabel(' 滑块速度v1( m/s ) ')% hObject handle to pushbuttonRun (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) function edit1_Callback(hObject, eventdata, handles)% hObject handle to edit1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit1 as text% str2double(get(hObject,'String')) returns contents of edit1 as a double% --- Executes during object creation, after setting all properties. function edit1_CreateFcn(hObject, eventdata, handles)% hObject handle to edit1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on butt on press in pushbutt on Exit.function pushbutt on Exit_Callback(hObject, even tdata, han dies)ss=questdlg('确认退出？','退出信息窗口！','继续仿真！','退出仿真！','退出仿真！');switch sscase 退出仿真！'delete(ha ndles.figurel);endhan dle to pushbutt on Exit (see GCBO) reserved - to be defi ned in a future version of MATLAB% han dles structure with han dles and user data (see GUIDATA)四、使用指南和实例仿真进入MATLAB 软件，打开并运行程序初始界面：对 山的值进行修改，修改为实例中的 50*2*pi=314.16，点击开始仿% hObject % even tdata真按钮，得到仿真结果:曲柄滑块机构的运动学仿真T2-D 1mr3='0.'lTn r------------314.16 !瞬制t防is时间a 55点击退出仿真按钮，进入退出界面:谕Ht対J1恂亍京;引-12=翊旳1 H3=4634t rl>drlM>疋pa E日>—-f4 -点击继续仿真按钮，则回到程序界面；点击退出仿真按钮，则退出程序。