ADAMS多体动力学仿真多种速度曲线函数.docx
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ADAMS多体动力学仿真多种速度曲线函数.docx
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ADAMS多体动力学仿真多种速度曲线函数
1、梯形速度曲线
A=0.5,V=2
if(time-2:
0,0,if(time-6:
0.5,0.5,if(time-14:
0,0,if(time-18:
-0.5,-0.5,0))))
A=181.891d,V=2
if(time-2:
0,0,if(time-6:
-181.891d,-181.891d,if(time-14:
0,0,if(time-18:
181.891d,181.891d,0))))
A=181.891d,V=2
if(time-2:
0,0,if(time-6:
-181.891d,-181.891d,if(time-14:
0,0,if(time-18:
181.891d,181.891d,0))))
2、简化5段S型速度曲线
A=0.5,V=1
if(time-2:
0,0,if(time-4:
-0.25*time+0.5,0.5,if(time-6:
-1.5+0.25*time,0,if(time-14:
0,0,if(time-16:
-3.5+0.25*time,-0.5,if(time-18:
-0.25*time+4.5,0,0))))))
A=0.5=181.891d,V=1
if(time-2:
0,0,if(time-4:
-181.891d/2*time+181.891d,-181.891d,if(time-6:
-3*181.891d+181.891d/2*time,0,if(time-14:
0,0,if(time-16:
-7*181.891d+181.891d/2*time,-181.891d,if(time-18:
-181.891d/2*time+9*181.891d,0,0))))))
A=1,V=2
if(time-2:
0,0,if(time-4:
-0.5*time+1,1,if(time-6:
-3+0.5*time,0,if(time-14:
0,0,if(time-16:
-7+0.5*time,-0.5,if(time-18:
-0.5*time+9,0,0))))))
w=181.891,V=1
if(time-2:
0,0,if(time-4:
-181.891d/2*time+181.891d,-181.891d,if(time-6:
-3*181.891d+181.891d/2*time,0,if(time-14:
0,0,if(time-16:
-7*181.891d+181.891d/2*time,-181.891d,if(time-18:
-181.891d/2*time+9*181.891d,0,0))))))
w=2*181.891,V=2
if(time-2:
0,0,if(time-4:
-181.891d*time+2*181.891d,2*181.891d,if(time-6:
-6*181.891d+181.891d*time,0,if(time-14:
0,0,if(time-16:
-14*181.891d+181.891d*time,-2*181.891d,if(time-18:
-181.891d*time+18*181.891d,0,0))))))
4、标准7段S型速度曲线
A=0.5,V=1.5
if(time-2:
0,0,if(time-3:
-0.5*time+1,-0.5,if(time-5:
-0.5,-0.5,if(time-6:
0.5*time-3,0,if(time-14:
0,0,if(time-15:
0.5*time-7,0.5,if(time-17:
0.5,0.5,if(time-18:
-0.5*time+9,0,0))))))))
A=2/3,V=2
if(time-2:
0,0,if(time-3:
-2/3*time+4/3,-2/3,if(time-5:
-2/3,-2/3,if(time-6:
2/3*time-4,0,if(time-14:
0,0,if(time-15:
2/3*time-28/3,2/3,if(time-17:
2/3,2/3,if(time-18:
-2/3*time+12,0,0))))))))
A=0.5=181.891d,V=1.5
if(time-2:
0,0,if(time-3:
-181.891d*time+2*181.891d,-181.891d,if(time-5:
-181.891d,-181.891d,if(time-6:
181.891d*time-6*181.891d,0,if(time-14:
0,0,if(time-15:
181.891d*time-14*181.891d,181.891d,if(time-17:
181.891d,181.891d,if(time-18:
-181.891d*time+181.891d*18,0,0))))))))
A=2/3,V=2
if(time-2:
0,0,if(time-3:
-242.521818d*time+2*242.521818d,-242.521818d,if(time-5:
-242.521818d,-242.521818d,if(time-6:
242.521818d*time-6*242.521818d,0,if(time-14:
0,0,if(time-15:
242.521818d*time-14*242.521818d,242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
-242.521818d*time+242.521818d*18,0,0))))))))
A=4/3=485.043636d,V=4
if(time-2:
0,0,if(time-3:
-485.043636d*time+2*485.043636d,-485.043636d,if(time-5:
-485.043636d,-485.043636d,if(time-6:
485.043636d*time-6*485.043636d,0,if(time-14:
0,0,if(time-15:
485.043636d*time-14*485.043636d,485.043636d,if(time-17:
485.043636d,485.043636d,if(time-18:
-485.043636d*time+485.043636d*18,0,0))))))))
3、三角正弦函数速度曲线
A=1,V=2
if(time-2:
0,0,if(time-6:
-0.5*(1+cos(time/4*2*pi)),0.5,if(time-14:
0,0,if(time-18:
0.5*(1+cos(time/4*2*pi)),-0.5,0))))
A=0.5=181.891d,V=1
if(time-2:
0,0,if(time-6:
-181.891d/2*(1+cos(time/4*2*pi)),181.891d,if(time-14:
0,0,if(time-18:
181.891d/2*(1+cos(time/4*2*pi)),-181.891d,0))))
A=1=2*181.891d,V=2
if(time-2:
0,0,if(time-6:
-181.891d*(1+cos(time/4*2*pi)),181.891d,if(time-14:
0,0,if(time-18:
181.891d*(1+cos(time/4*2*pi)),-181.891d,0))))
5、变异正弦速度曲线
A=0.5,V=1.5
if(time-2:
0,0,if(time-3:
0.25*cos(pi*time)-0.25,-0.5,if(time-5:
-0.5,-0.5,if(time-6:
0.25*cos(pi*(time-2))-0.25,0,if(time-14:
0,0,if(time-15:
-0.25*cos(pi*time)+0.25,0.5,if(time-17:
0.5,0.5,if(time-18:
-0.25*cos(pi*(time-2))+0.25,0,0))))))))
A=0.5=181.891d,V=1.5
if(time-2:
0,0,if(time-3:
181.891d/2*cos(pi*time)-181.891d/2,-181.891d,if(time-5:
-181.891d,-181.891d,if(time-6:
181.891d/2*cos(pi*(time-2))-181.891d/2,0,if(time-14:
0,0,if(time-15:
-181.891d/2*cos(pi*time)+181.891d/2,181.891d,if(time-17:
181.891d,181.891d,if(time-18:
-181.891d/2*cos(pi*(time-2))+181.891d/2,0,0))))))))
A=2/3=242.521818d,V=2
if(time-2:
0,0,if(time-3:
242.521818d/2*cos(pi*time)-242.521818d/2,-242.521818d,if(time-5:
-242.521818d,-242.521818d,if(time-6:
242.521818d/2*cos(pi*(time-2))-242.521818d/2,0,if(time-14:
0,0,if(time-15:
-242.521818d/2*cos(pi*time)+242.521818d/2,242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
-242.521818d/2*cos(pi*(time-2))+242.521818d/2,0,0))))))))
5、step////242.521818d
if(time-2:
0,0,if(time-3:
step(time,2,0,3,-242.521818d),-242.521818d,if(time-5:
-242.521818d,-242.521818d,if(time-6:
step(time,5,-242.521818d,6,0),0,if(time-14:
0,0,if(time-15:
step(time,14,0,15,242.521818d),242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
step(time,17,242.521818d,18,0),0,0))))))))
if(time-2:
0,0,if(time-3:
-485.043636d*time+2*485.043636d,-485.043636d,if(time-6:
-485.043636d,-485.043636d,if(time-7:
485.043636d*time-7*485.043636d,0,if(time-13:
0,0,if(time-14:
485.043636d*time-13*485.043636d,485.043636d,if(time-17:
485.043636d,485.043636d,if(time-18:
-485.043636d*time+485.043636d*18,0,0))))))))
1、梯形速度曲线
A=0.5,V=2
if(time-2:
0,0,if(time-6:
0.5,0.5,if(time-14:
0,0,if(time-18:
-0.5,-0.5,0))))
A=181.891d,V=2
if(time-2:
0,0,if(time-6:
-181.891d,-181.891d,if(time-14:
0,0,if(time-18:
181.891d,181.891d,0))))
A=2*181.891d,V=2
if(time-2:
0,0,if(time-6:
-181.891d,-181.891d,if(time-14:
0,0,if(time-18:
181.891d,181.891d,0))))
2、简化5段S型速度曲线
A=0.5,V=1
if(time-2:
0,0,if(time-4:
-0.25*time+0.5,0.5,if(time-6:
-1.5+0.25*time,0,if(time-14:
0,0,if(time-16:
-3.5+0.25*time,-0.5,if(time-18:
-0.25*time+4.5,0,0))))))
A=0.5=181.891d,V=1
if(time-2:
0,0,if(time-4:
-181.891d/2*time+181.891d,-181.891d,if(time-6:
-3*181.891d+181.891d/2*time,0,if(time-14:
0,0,if(time-16:
-7*181.891d+181.891d/2*time,-181.891d,if(time-18:
-181.891d/2*time+9*181.891d,0,0))))))
A=1,V=2
if(time-2:
0,0,if(time-4:
-0.5*time+1,1,if(time-6:
-3+0.5*time,0,if(time-14:
0,0,if(time-16:
-7+0.5*time,-0.5,if(time-18:
-0.5*time+9,0,0))))))
w=181.891,V=1
if(time-2:
0,0,if(time-4:
-181.891d/2*time+181.891d,-181.891d,if(time-6:
-3*181.891d+181.891d/2*time,0,if(time-14:
0,0,if(time-16:
-7*181.891d+181.891d/2*time,-181.891d,if(time-18:
-181.891d/2*time+9*181.891d,0,0))))))
w=2*181.891,V=2
if(time-2:
0,0,if(time-4:
-181.891d*time+2*181.891d,2*181.891d,if(time-6:
-6*181.891d+181.891d*time,0,if(time-14:
0,0,if(time-16:
-14*181.891d+181.891d*time,-2*181.891d,if(time-18:
-181.891d*time+18*181.891d,0,0))))))
4、标准7段S型速度曲线
A=0.5,V=1.5
if(time-2:
0,0,if(time-3:
-0.5*time+1,-0.5,if(time-5:
-0.5,-0.5,if(time-6:
0.5*time-3,0,if(time-14:
0,0,if(time-15:
0.5*time-7,0.5,if(time-17:
0.5,0.5,if(time-18:
-0.5*time+9,0,0))))))))
A=2/3,V=2
if(time-2:
0,0,if(time-3:
-2/3*time+4/3,-2/3,if(time-5:
-2/3,-2/3,if(time-6:
2/3*time-4,0,if(time-14:
0,0,if(time-15:
2/3*time-28/3,2/3,if(time-17:
2/3,2/3,if(time-18:
-2/3*time+12,0,0))))))))
A=0.5=181.891d,V=1.5
if(time-2:
0,0,if(time-3:
-181.891d*time+2*181.891d,-181.891d,if(time-5:
-181.891d,-181.891d,if(time-6:
181.891d*time-6*181.891d,0,if(time-14:
0,0,if(time-15:
181.891d*time-14*181.891d,181.891d,if(time-17:
181.891d,181.891d,if(time-18:
-181.891d*time+181.891d*18,0,0))))))))
A=2/3,V=2
if(time-2:
0,0,if(time-3:
-242.521818d*time+2*242.521818d,-242.521818d,if(time-5:
-242.521818d,-242.521818d,if(time-6:
242.521818d*time-6*242.521818d,0,if(time-14:
0,0,if(time-15:
242.521818d*time-14*242.521818d,242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
-242.521818d*time+242.521818d*18,0,0))))))))
A=4/3=485.043636d,V=4
if(time-2:
0,0,if(time-3:
-485.043636d*time+2*485.043636d,-485.043636d,if(time-5:
-485.043636d,-485.043636d,if(time-6:
485.043636d*time-6*485.043636d,0,if(time-14:
0,0,if(time-15:
485.043636d*time-14*485.043636d,485.043636d,if(time-17:
485.043636d,485.043636d,if(time-18:
-485.043636d*time+485.043636d*18,0,0))))))))
3、三角正弦函数速度曲线
A=1,V=2
if(time-2:
0,0,if(time-6:
-0.5*(1+cos(time/4*2*pi)),0.5,if(time-14:
0,0,if(time-18:
0.5*(1+cos(time/4*2*pi)),-0.5,0))))
A=0.5=181.891d,V=1
if(time-2:
0,0,if(time-6:
-181.891d/2*(1+cos(time/4*2*pi)),181.891d,if(time-14:
0,0,if(time-18:
181.891d/2*(1+cos(time/4*2*pi)),-181.891d,0))))
A=1=2*181.891d,V=2
if(time-2:
0,0,if(time-6:
-181.891d*(1+cos(time/4*2*pi)),181.891d,if(time-14:
0,0,if(time-18:
181.891d*(1+cos(time/4*2*pi)),-181.891d,0))))
5、变异正弦速度曲线
A=0.5,V=1.5
if(time-2:
0,0,if(time-3:
0.25*cos(pi*time)-0.25,-0.5,if(time-5:
-0.5,-0.5,if(time-6:
0.25*cos(pi*(time-2))-0.25,0,if(time-14:
0,0,if(time-15:
-0.25*cos(pi*time)+0.25,0.5,if(time-17:
0.5,0.5,if(time-18:
-0.25*cos(pi*(time-2))+0.25,0,0))))))))
A=2/3=242.521818d,V=2
if(time-2:
0,0,if(time-3:
242.521818d/2*cos(pi*time)-242.521818d/2,-242.521818d,if(time-5:
-242.521818d,-242.521818d,if(time-6:
242.521818d/2*cos(pi*(time-2))-242.521818d/2,0,if(time-14:
0,0,if(time-15:
-242.521818d/2*cos(pi*time)+242.521818d/2,242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
-242.521818d/2*cos(pi*(time-2))+242.521818d/2,0,0))))))))
5、step////242.521818d
if(time-2:
0,0,if(time-3:
step(time,2,0,3,-242.521818d),-242.521818d,if(time-5:
-242.521818d,-242.521818d,if(time-6:
step(time,5,-242.521818d,6,0),0,if(time-14:
0,0,if(time-15:
step(time,14,0,15,242.521818d),242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
step(time,17,242.521818d,18,0),0,0))))))))
if(time-2:
0,0,if(time-3:
242.521818d*time-2*242.521818d,242.521818d,if(time-5:
242.521818d,242.521818d,if(time-6:
-242.521818d*time+6*242.521818d,0,if(time-14:
0,0,if(time-15:
-242.521818d*time+14*242.521818d,-242.521818d,if(time-17:
-242.521818d,-242.521818d,if(time-18:
242.521818d*time-242.521818d*18,0,0))))))))
if(time-2:
0,0,if(time-3:
-242.521818d*time+2*242.521818d,-242.521818d,if(time-6:
-242.521818d,-242.521818d,if(time-7:
242.521818d*time-7*242.521818d,0,if(time-13:
0,0,if(time-14:
242.521818d*time-13*242.521818d,242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
-242.521818d*time+242.521818d*18,0,0))))))))
if(time-2:
0,0,if(time-3:
-242.521818d*time+2*242.521818d,-242.521818d,if(time-7:
-242.521818d,-242.521818d,if(time-8:
242.521818d*time-8*242.521818d,0,if(time-12:
0,0,if(time-13:
242.521818d*time-12*242.521818d,242.521818d,if(time-17:
242.521818d,242.521818d,if(time-18:
-242.521818d*time+242.521818d*18,0,0))))))))
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- 关 键 词:
- ADAMS 动力学 仿真 多种 速度 曲线 函数
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