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1、%???óμˉ?é×è?á?????ú11??DD?ˉá|?§·???+Baumgarte?￥??DT?y·¨clearclcm2=1.1289713258;%èy????μ??êá?kgm3=3.3132513258;m4=3.0012113258;g=9806.65;%??á|?ó?ù?è9806.65mm/s2l2=150;%?t??3¤?èmml3=500;%èy??3¤?èmml4=450;%????3¤?èmml5=400;%á???μ××ù????μ??àà?mmM=10000000;

2、%?t???¤???a10000N.m￡?????3ématlab?ùó?μ￥??￡?á|???a10000000?￡k=4000;%μˉ?é???è?a4N/mm,????3ématlab?ùó?μ￥??￡?μˉ?é???è?a4000?￡c=400;%×è?á?a0.4N/(mm/s)￡?????3ématlab?ùó?μ￥??￡?×è?á?a400?￡L0=416.08;%μˉ?é?3¤mma=0;%DT?y2?êyab=0;%DT?y2?êybdt=0.00001;%2?3¤t=0:dt:5

3、;%éè??ê±???a5sn=length(t)%·???2?êyq=zeros(9,n);%2úéú9DDnáDμ?á????ó(l4^2*m4)/12q_v=zeros(9,n);q_ac=zeros(9,n);q(1:9,1)=[075pi/22003000.6435011094002251.5*pi];%éè??μü′ú3??μ￡?ò2ê?èy????μ?3?ê?????force=zeros(8,n);F=zeros(1,n);i=1A=[m2,0,0,0,0,0,0,0,0,1,0,1

4、,0,0,0,0,00,m2,0,0,0,0,0,0,0,0,1,0,1,0,0,0,00,0,3246.2937888297,0,0,0,0,0,0,(l2*sin(q(3,i)))/2,-(l2*cos(q(3,i)))/2,-(l2*sin(q(3,i)))/2,(l2*cos(q(3,i)))/2,0,0,0,00,0,0,m3,0,0,0,0,0,0,0,-1,0,1,0,0,00,0,0,0,m3,0,0,0,0,0,0,0,-1,0,1,0,00,0,0,0,0,7.832727911

5、e+004,0,0,0,0,0,-(l3*sin(q(6,i)))/2,(l3*cos(q(6,i)))/2,-(l3*sin(q(6,i)))/2,(l3*cos(q(6,i)))/2,0,00,0,0,0,0,0,m4,0,0,0,0,0,0,-1,0,1,00,0,0,0,0,0,0,m4,0,0,0,0,0,0,-1,0,10,0,0,0,0,0,0,0,5.8297131592e+004,0,0,0,0,-(l4*sin(q(9,i)))/2,(l4*cos(q(9,i)))/2,-(l4

6、*sin(q(9,i)))/2,(l4*cos(q(9,i)))/21,0,(l2*sin(q(3,i)))/2,0,0,0,0,0,0,0,0,0,0,0,0,0,00,1,-(l2*cos(q(3,i)))/2,0,0,0,0,0,0,0,0,0,0,0,0,0,01,0,-(l2*sin(q(3,i)))/2,-1,0,-(l3*sin(q(6,i)))/2,0,0,0,0,0,0,0,0,0,0,00,1,(l2*cos(q(3,i)))/2,0,-1,(l3*cos(q(6,i)))/2,

7、0,0,0,0,0,0,0,0,0,0,00,0,0,1,0,-(l3*sin(q(6,i)))/2,-1,0,-(l4*sin(q(9,i)))/2,0,0,0,0,0,0,0,00,0,0,0,1,(l3*cos(q(6,i)))/2,0,-1,(l4*cos(q(9,i)))/2,0,0,0,0,0,0,0,00,0,0,0,0,0,1,0,-(l4*sin(q(9,i)))/2,0,0,0,0,0,0,0,00,0,0,0,0,0,0,1,(l4*cos(q(9,i)))/2,0,0,0,0

8、,0,0,0,0];fs=k*(sqrt((q(7,i)-750)^2+(q(8,i)-0)^2)-L0);%μˉ?éá|fc=-c*q_v(7,i)*(750-q(7,i))/sqrt((q(7,i)-750)^2+(q(8,i)-0)^2)+c*q_v(8,i)*(q(8,i)-0)/sqrt((q(7,i)-750)^2+(q(8,i)-0)^2);%×è?áá|F(1,i)=fs+fc;%μˉ?éá|?ó×è?áá|B=[0;-m2*g;M;0;-m3*g0;