Tspeed.h程序
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#pragma once#ifndef TSPEED_H#define TSPEED_H#include<iostream>#include<fstream>#include<cmath>using namespace std;void Tspeed();#endif //TSPEED_H! |
Tspeed.cpp程序
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#include "Tspeed.h"ofstream out("Tspeed.txt", ios_base::ate);void Tspeed(){ double v0 = 50, v1 = 20, vmax = 150; double a_add = 1000, a_dec = -1500; double p0 = 5, p1 = 30; double t0 = 2; double h = p1 - p0; double vf, vv; double step = 0.001; vf = sqrt((2 * a_add * a_dec * h - a_add * pow(v1, 2) + a_dec * pow(v0, 2)) / (a_dec - a_add)); if (vf < vmax) { vv = vf; } else { vv = vmax; } double Ta, Tv, Td; double La, Lv, Ld; Ta = (vv - v0) / a_add; Tv = (h - (pow(vv, 2) - pow(v0, 2)) / (2 * a_add) - (pow(v1, 2) - pow(vv, 2)) / (2 * a_dec)) / vv; Td = (v1 - vv) / a_dec; double t1; t1 = t0 + Ta + Tv + Td; La = v0 * Ta + 0.5 * a_add * pow(Ta, 2); Lv = vv * Tv; Ld = vv * Td + 0.5 * a_dec * pow(Td, 2); double p, pd, pdd; for (double t = 0; t <= Ta + Tv + Td;) { if (t >= 0 && t < Ta) { p = p0 + v0 * t + 0.5 * a_add * pow(t, 2); pd = v0 + a_add * t; pdd = a_add; } else if (t >= Ta && t < Ta + Tv) { p = p0 + La + vv * (t - Ta); pd = vv; pdd = 0; } else if (t >= Ta + Tv && t <= Ta + Tv + Td) { p = p0 + La + Lv + vv * (t - Ta - Tv) + 0.5 * a_dec * pow((t - Ta - Tv), 2); pd = vv + a_dec * (t - Ta - Tv); pdd = a_dec; } t = t + step; double temp = 2; temp = temp + t; cout << temp << " " << p << " " << pd << " " << pdd << " " << endl; out << temp << " " << p << " " << pd << " " << pdd << " " << endl; //cout << t << endl; } out.close();} |
main.cpp程序
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#include"Tspeed.h"int main(){ Tspeed(); system("pause"); return 0;} |
CMakeLists.txt程序
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project(T_CHABU)include_directories(include)add_executable(main_cmake main.cpp src/Tspeed.cpp) |
Matlab程序
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A=load('Tspeed.txt');t=A( :,1);p=A( :,2);pd=A( :,3);pdd=A( :,4);figure(2)subplot(3, 1, 1)plot(t, p, 'r', 'LineWidth', 1.5)ylabel('position')grid onsubplot(3, 1, 2)plot(t, pd, 'b', 'LineWidth', 1.5)ylabel('velocity')grid onsubplot(3, 1, 3)plot(t, pdd, 'g', 'LineWidth', 1.5)ylabel('acceleration')grid on |
总结
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原文链接：https://blog.csdn.net/qq_37621488/article/details/121024451
