应用C语言分析平面六连杆机构和尖底直动从动件盘状凸轮.doc

应用c/c+语言分析平面六连杆机构和尖底直动从动件盘状凸轮山东大学09级机电班小组成员： 小组分工：平面六连杆机构：李圣： 六连杆机构分析，单杆运动分析（ab杆），rpr ii级组运动分析（cd杆），rrp ii级组运动分析（de杆），程序设计、编写与调试，书面报告结果校对。苏海北：rrp ii级组运动分析（de杆），书面报告。张海斌：rrp ii级组运动分析（de杆），结果校对。邓鸿飞：结果校对。尖底直动从动件盘状凸轮李圣： 凸轮机构分析，程序设计、编写与调试，书面报告，结果校对。苏海北：书面报告。张海斌：结果校对。邓鸿飞：结果校对。说明：除六连杆机构受力分析程序中高斯法解线性方程部分参考了网络上他人的写法，其他程序所有部分都为自己设计、编写、调试。没有使用任何他人的子程序。项目过程中我付出了极大的精力和时间，自学了许多东西。编写调试环境为vc+6.0带模拟bdi绘图库。如果需要调试源代码，请安装文件夹下的graphics模拟库安装包。目录平面六连杆机构l 六连杆运动数据文本输出程序5l 六连杆运动数据文本输出程序分析结果7l 六连杆运动线图程序14l 六连杆运动线图程序分析结果21l 六连杆受力数据文本输出程序24l 六连杆受力数据文本输出程序分析结果29l 六连杆受力线图程序分34l 六连杆受力线图程序分析结果46尖底直动从动件盘状凸轮l 凸轮数据文本输出程序49l 凸轮数据文本输出程序分析结果51l 凸轮轮廓和线图程序53l 凸轮轮廓和线图程序分析结果58注意：1、六连杆运动屏显程序、六连杆受力屏显程序、凸轮数据屏显程序没有打印出来。2、由于各文本输出程序分析结果数据量过大，程序中使用5度为分度，打印时用了15度。平面六连杆机构题目：如图所示的六连杆机构中，已知l1=0.12 m, l3=l4=0.6 m, l6=0.38 m;曲柄 1 逆时针方向等速转动，转速n1=172 r/min;构件质量m3=20 kg, m4=15 kg, m5=62 kg,构件1、2的质量忽略不计；质心位置lcs3=0.3 m, lds4=0.3 m,质心s5在点e；构件3、4绕质心的转动惯量js3=0.11 kgm2；该构件在工作行程时滑块5受生产阻力fx=110 n。 求：1）曲柄回转一周过程中，滑块5的位移se、速度e、加速度ae及构件3、4的角速度3、4，角加速度3、4；2）各运动副中的反力及应加在原动件ab上的平衡力矩mb。六连杆运动数据文本输出程序源代码59#include#include #include #includeconst double pi=3.14159265358979;int main(void) double seta;double n1;double l1,l3,l4,l6; double phi,w1,alf1,xb,yb,vbx,vby,abx,aby,vb,ab;double phi1,w3,alf3,xd,yd,vdx,vdy,vr,adx,ady,e1,f1,vd,ad;double phi2,w4,alf4,xe,ye,vex,vey,aex,aey,e2,f2,f3,ve,ae;l1=0.12; l3=0.6; l4=0.6; l6=0.38; n1=172; w1=n1/30*pi;printf(六连杆运动分析nnn);file *fp;if(fp=fopen(运动数据.txt,w)=null)printf(cant open this file.n);exit(0);fprintf(fp,六连杆运动分析nnn);for(seta=0;seta90&seta=270)phi1=atan(yb+l6)/xb)+pi; elsephi1=atan(yb+l6)/xb);xd=l3*cos(phi1);yd=-l6+l3*sin(phi1);w3=(vby*cos(phi1)-vbx*sin(phi1)/(xb*cos(phi1)+(yb+l6)*sin(phi1);vdx=-w3*(yd+l6);vdy=w3*xd;vr=(vby*(yb+l6)+vbx*xb)/(xb*cos(phi1)+(yb+l6)*sin(phi1);e1=abx+w3*w3*xb+2*w3*vr*sin(phi1);f1=aby+w3*w3*(yb+l6)-2*w3*vr*cos(phi1);alf3=(f1*cos(phi1)-e1*sin(phi1)/(xb*cos(phi1)+(yb+l6)*sin(phi1);adx=-alf3*(yd+l6)-w3*w3*xd; ady=alf3*xd-w3*w3*(yd+l6);vd=sqrt(vdx*vdx+vdy*vdy);ad=sqrt(adx*adx+ady*ady);e2=-2*xd;f2=xd*xd+yd*yd-l4*l4;xe=(-e2+sqrt(e2*e2-4*f2)/2; phi2=atan(-yd)/(xe-xd);w4=(-vdy)/(xe-xd);vex=vdx-l4*w4*sin(phi2);f3=-ady-w4*w4*yd;alf4=f3/(xe-xd);aex=adx+alf4*yd-w4*w4*(xe-xd);aey=0;vey=0;ye=0;ve=-sqrt(vex*vex+vey*vey);ae=-sqrt(aex*aex+aey*aey);fprintf(fp,n曲柄1与x轴夹角:%.0f度n,seta);fprintf(fp, w1=%f alf1=%fn xb=%f yb=%fn vbx=%f vby=%f vb=%fn abx=%f aby=%f ab=%fn,w1,alf1,xb,yb,vbx,vby,vb,abx,aby,ab);fprintf(fp, w3=%f alf3=%fn xd=%f yd=%fn vdx=%f vdy=%f vd=%fn adx=%f ady=%f ad=%fn,w3,alf3,xd,yd,vdx,vdy,vd,adx,ady,ad);fprintf(fp, w4=%f alf4=%fn xe=%f ye=%fn vex=%f vey=%f ve=%fn aex=%f aey=%f ae=%fn,w4,alf4,xe,ye,vex,vey,ve,aex,aey,ae);printf(nnn*数据已成功输入本目录下“运动数据.txt/”*nnn);printf(nnn小组成员：李圣 200900162096n); printf( 苏海北 200900162164n); printf( 张海斌 200900162254n); printf( 邓鸿飞 200900162030n);printf(n程序：李圣nnn);printf(请按回车结束);fflush(stdin); getchar();return 0;运动分析数据结果六连杆运动分析曲柄1与x轴夹角:0度 w1=18.011798 alf1=0.000000 xb=0.120000 yb=0.000000 vbx=0.000000 vby=2.161416 vb=2.161416 abx=-38.930984 aby=0.000000 ab=38.930984 w3=1.633312 alf3=76.264307 xd=0.180679 yd=0.192150 vdx=-0.934499 vdy=0.295105 vd=0.979987 adx=-44.116591 ady=12.253018 ad=45.786570 w4=-0.519185 alf4=-21.648157 xe=0.749079 ye=0.000000 vex=-1.034260 vey=0.000000 ve=-1.034260 aex=-48.429490 aey=0.000000 ae=-48.429490曲柄1与x轴夹角:15度 w1=18.011798 alf1=0.000000 xb=0.115911 yb=0.031058 vbx=-0.559416 vby=2.087767 vb=2.161416 abx=-37.604442 aby=-10.076080 ab=38.930984 w3=2.587372 alf3=55.833644 xd=0.162839 yd=0.197480 vdx=-1.494156 vdy=0.421325 vd=1.552423 adx=-33.332951 ady=5.225963 ad=33.740130 w4=-0.743642 alf4=-9.416613 xe=0.729409 ye=0.000000 vex=-1.641011 vey=0.000000 ve=-1.641011 aex=-35.505862 aey=0.000000 ae=-35.505862曲柄1与x轴夹角:30度 w1=18.011798 alf1=0.000000 xb=0.103923 yb=0.060000 vbx=-1.080708 vby=1.871841 vb=2.161416 abx=-33.715221 aby=-19.465492 ab=38.930984 w3=3.278077 alf3=39.864945 xd=0.137919 yd=0.203934 vdx=-1.914179 vdy=0.452108 vd=1.966846 adx=-24.760525 ady=-0.776711 ad=24.772705 w4=-0.801212 alf4=1.144464 xe=0.702198 ye=0.000000 vex=-2.077573 vey=0.000000 ve=-2.077573 aex=-24.889365 aey=0.000000 ae=-24.889365曲柄1与x轴夹角:45度 w1=18.011798 alf1=0.000000 xb=0.084853 yb=0.084853 vbx=-1.528352 vby=1.528352 vb=2.161416 abx=-27.528362 aby=-27.528362 ab=38.930984 w3=3.762598 alf3=27.275707 xd=0.107742 yd=0.210247 vdx=-2.220863 vdy=0.405390 vd=2.257559 adx=-17.624726 ady=-5.417478 ad=18.438547 w4=-0.721388 alf4=9.445671 xe=0.669699 ye=0.000000 vex=-2.372533 vey=0.000000 ve=-2.372533 aex=-15.931244 aey=0.000000 ae=-15.931244曲柄1与x轴夹角:60度 w1=18.011798 alf1=0.000000 xb=0.060000 yb=0.103923 vbx=-1.871841 vby=1.080708 vb=2.161416 abx=-19.465492 aby=-33.715221 ab=38.930984 w3=4.082190 alf3=17.007330 xd=0.073827 yd=0.215441 vdx=-2.430702 vdy=0.301375 vd=2.449314 adx=-11.357125 ady=-8.666995 ad=14.286395 w4=-0.538182 alf4=15.365708 xe=0.633814 ye=0.000000 vex=-2.546649 vey=0.000000 ve=-2.546649 aex=-8.208921 aey=0.000000 ae=-8.208921曲柄1与x轴夹角:75度 w1=18.011798 alf1=0.000000 xb=0.031058 yb=0.115911 vbx=-2.087767 vby=0.559416 vb=2.161416 abx=-10.076080 aby=-37.604442 ab=38.930984 w3=4.263887 alf3=8.165880 xd=0.037504 yd=0.218827 vdx=-2.553330 vdy=0.159912 vd=2.558332 adx=-5.571793 ady=-10.580858 ad=11.958237 w4=-0.286235 alf4=18.907197 xe=0.596176 ye=0.000000 vex=-2.615966 vey=0.000000 ve=-2.615966 aex=-1.480165 aey=0.000000 ae=-1.480165曲柄1与x轴夹角:90度 w1=18.011798 alf1=0.000000 xb=0.000000 yb=0.120000 vbx=-2.161416 vby=0.000000 vb=2.161416 abx=-0.000000 aby=-38.930984 ab=38.930984 w3=4.322831 alf3=0.000000 xd=0.000000 yd=0.220000 vdx=-2.593699 vdy=0.000000 vd=2.593699 adx=-0.000000 ady=-11.212123 ad=11.212123 w4=-0.000000 alf4=20.085800 xe=0.558211 ye=0.000000 vex=-2.593699 vey=0.000000 ve=-2.593699 aex=4.418876 aey=0.000000 ae=-4.418876曲柄1与x轴夹角:105度 w1=18.011798 alf1=0.000000 xb=-0.031058 yb=0.115911 vbx=-2.087767 vby=-0.559416 vb=2.161416 abx=10.076080 aby=-37.604442 ab=38.930984 w3=4.263887 alf3=-8.165880 xd=-0.037504 yd=0.218827 vdx=-2.553330 vdy=-0.159912 vd=2.558332 adx=5.571793 ady=-10.580858 ad=11.958237 w4=0.286235 alf4=18.907197 xe=0.521169 ye=0.000000 vex=-2.490694 vey=0.000000 ve=-2.490694 aex=9.663421 aey=0.000000 ae=-9.663421曲柄1与x轴夹角:120度 w1=18.011798 alf1=0.000000 xb=-0.060000 yb=0.103923 vbx=-1.871841 vby=-1.080708 vb=2.161416 abx=19.465492 aby=-33.715221 ab=38.930984 w3=4.082190 alf3=-17.007330 xd=-0.073827 yd=0.215441 vdx=-2.430702 vdy=-0.301375 vd=2.449314 adx=11.357125 ady=-8.666995 ad=14.286395 w4=0.538182 alf4=15.365708 xe=0.486160 ye=0.000000 vex=-2.314756 vey=0.000000 ve=-2.314756 aex=14.505330 aey=0.000000 ae=-14.505330曲柄1与x轴夹角:135度 w1=18.011798 alf1=0.000000 xb=-0.084853 yb=0.084853 vbx=-1.528352 vby=-1.528352 vb=2.161416 abx=27.528362 aby=-27.528362 ab=38.930984 w3=3.762598 alf3=-27.275707 xd=-0.107742 yd=0.210247 vdx=-2.220863 vdy=-0.405390 vd=2.257559 adx=17.624726 ady=-5.417478 ad=18.438547 w4=0.721388 alf4=9.445671 xe=0.454216 ye=0.000000 vex=-2.069193 vey=0.000000 ve=-2.069193 aex=19.318208 aey=0.000000 ae=-19.318208曲柄1与x轴夹角:150度 w1=18.011798 alf1=0.000000 xb=-0.103923 yb=0.060000 vbx=-1.080708 vby=-1.871841 vb=2.161416 abx=33.715221 aby=-19.465492 ab=38.930984 w3=3.278077 alf3=-39.864945 xd=-0.137919 yd=0.203934 vdx=-1.914179 vdy=-0.452108 vd=1.966846 adx=24.760525 ady=-0.776711 ad=24.772705 w4=0.801212 alf4=1.144464 xe=0.426361 ye=0.000000 vex=-1.750785 vey=0.000000 ve=-1.750785 aex=24.631686 aey=0.000000 ae=-24.631686曲柄1与x轴夹角:165度 w1=18.011798 alf1=0.000000 xb=-0.115911 yb=0.031058 vbx=-0.559416 vby=-2.087767 vb=2.161416 abx=37.604442 aby=-10.076080 ab=38.930984 w3=2.587372 alf3=-55.833644 xd=-0.162839 yd=0.197480 vdx=-1.494156 vdy=-0.421325 vd=1.552423 adx=33.332951 ady=5.225963 ad=33.740130 w4=0.743642 alf4=-9.416613 xe=0.403731 ye=0.000000 vex=-1.347302 vey=0.000000 ve=-1.347302 aex=31.160041 aey=0.000000 ae=-31.160041曲柄1与x轴夹角:180度 w1=18.011798 alf1=0.000000 xb=-0.120000 yb=0.000000 vbx=-0.000000 vby=-2.161416 vb=2.161416 abx=38.930984 aby=-0.000000 ab=38.930984 w3=1.633312 alf3=-76.264307 xd=-0.180679 yd=0.192150 vdx=-0.934499 vdy=-0.295105 vd=0.979987 adx=44.116591 ady=12.253018 ad=45.786570 w4=0.519185 alf4=-21.648157 xe=0.387721 ye=0.000000 vex=-0.834737 vey=0.000000 ve=-0.834737 aex=39.803692 aey=0.000000 ae=-39.803692曲柄1与x轴夹角:195度 w1=18.011798 alf1=0.000000 xb=-0.115911 yb=-0.031058 vbx=0.559416 vby=-2.087767 vb=2.161416 abx=37.604442 aby=10.076080 ab=38.930984 w3=0.346106 alf3=-101.634306 xd=-0.189145 yd=0.189407 vdx=-0.197075 vdy=-0.065464 vd=0.207663 adx=57.893929 ady=19.155411 ad=60.980626 w4=0.114987 alf4=-33.650533 xe=0.380175 ye=0.000000 vex=-0.175296 vey=0.000000 ve=-0.175296 aex=51.512759 aey=0.000000 ae=-51.512759曲柄1与x轴夹角:210度 w1=18.011798 alf1=0.000000 xb=-0.103923 yb=-0.060000 vbx=1.080708 vby=-1.871841 vb=2.161416 abx=33.715221 aby=19.465492 ab=38.930984 w3=-1.336565 alf3=-129.975083 xd=-0.185328 yd=0.190661 vdx=0.762725 vdy=0.247702 vd=0.801939 adx=74.502750 ady=23.068529 ad=77.992415 w4=-0.435405 alf4=-40.612812 xe=0.383574 ye=0.000000 vex=0.679710 vey=0.000000 ve=-0.679710 aex=66.651630 aey=0.000000 ae=-66.651630曲柄1与x轴夹角:225度 w1=18.011798 alf1=0.000000 xb=-0.084853 yb=-0.084853 vbx=1.528352 vby=-1.528352 vb=2.161416 abx=27.528362 aby=27.528362 ab=38.930984 w3=-3.407883 alf3=-152.888455 xd=-0.165781 yd=0.196643 vdx=1.965130 vdy=0.564962 vd=2.044730 adx=90.087323 ady=18.649043 ad=91.997351 w4=-0.996649 alf4=-33.243354 xe=0.401080 ye=0.000000 vex=1.769147 vey=0.000000 ve=-1.769147 aex=82.987194 aey=0.000000 ae=-82.987194曲柄1与x轴夹角:240度 w1=18.011798 alf1=0.000000 xb=-0.060000 yb=-0.103923 vbx=1.871841 vby=-1.080708 vb=2.161416 abx=19.465492 aby=33.715221 ab=38.930984 w3=-5.661968 alf3=-150.933411 xd=-0.127424 yd=0.206313 vdx=3.319686 vdy=0.721470 vd=3.397181 adx=92.579189 ady=0.436562 ad=92.580218 w4=-1.280533 alf4=-1.375307 xe=0.435990 ye=0.000000 vex=3.055495 vey=0.000000 ve=-3.055495 aex=91.371579 aey=0.000000 ae=-91.371579曲柄1与x轴夹角:255度 w1=18.011798 alf1=0.000000 xb=-0.031058 yb=-0.115911 vbx=2.087767 vby=-0.559416 vb=2.161416 abx=10.076080 aby=37.604442 ab=38.930984 w3=-7.551974 alf3=-99.560438 xd=-0.070080 yd=0.215893 vdx=4.500170 vdy=0.529244 vd=4.531184 adx=63.324232 ady=-27.007945 ad=68.843209 w4=-0.945396 alf4=47.899935 xe=0.489732 ye=0.000000 vex=4.296066 vey=0.000000 ve=-4.296066 aex=73.165159 aey=0.000000 ae=-73.165159曲柄1与x轴夹角:270度 w1=18.011798 alf1=0.000000 xb=-0.000000 yb=-0.120000 vbx=2.161416 vby=-0.000000 vb=2.161416 abx=0.000000 aby=38.930984 ab=38.930984 w3=-8.313137 alf3=-0.000000 xd=0.000000 yd=0.220000 vdx=4.987882 vdy=-0.000000 vd=4.987882 adx=0.000000 ady=-41.464953 ad=41.464953 w4=0.000000 alf4=74.281806 xe=0.558211 ye=0.000000 vex=4.987882 vey=0.000000 ve=-4.987882 aex=16.341997 aey=0.000000 ae=-16.341997曲柄1与x轴夹角:285度 w1=18.011798 alf1=0.000000 xb=0.031058 yb=-0.115911 vbx=2.087767 vby=0.559416 vb=2.161416 abx=-10.076080 aby=37.604442 ab=38.930984 w3=-7.551974 alf3=99.560438 xd=0.070080 yd=0.215893 vdx=4.500170 vdy=-0.529244 vd=4.531184 adx=-63.324232 ady=-27.007945 ad=68.843209 w4=0.945396 alf4=47.899935 xe=0.629893 ye=0.000000 vex=4.704275 vey=0.000000 ve=-4.704275 aex=-53.483305 aey=0.000000 ae=-53.483305曲柄1与x轴夹角:300度 w1=18.011798 alf1=0.000000 xb=0.060000 yb=-0.103923 vbx=1.871841 vby=1.080708 vb=2.161416 abx=-19.465492 aby=33.715221 ab=38.930984 w3=-5.661968 alf3=150.933411 xd=0.127424 yd=0.206313 vdx=3.319686 vdy=-0.721470 vd=3.397181 adx=-92.579189 ady=0.436562 ad=92.580218 w4=1.280533 alf4=-1.375307 xe=0.690837 ye=0.000000 vex=3.583877 vey=0.000000 ve=-3.583877 aex=-93.786799 aey=0.000000 ae=-93.786799曲柄1与x轴夹角:315度 w1=18.011798 alf1=0.000000 xb=0.084853 yb=-0.084853 vbx=1.528352 vby=1.528352 vb=2.161416 abx=-27.528362 aby=27.528362 ab=38.930984 w3=-3.407883 alf3=152.888455 xd=0.165781 yd=0.196643 vdx=1.965130 vdy=-0.564962 vd=2.044730 adx=-90.087323 ady=18.649043 ad=91.997351 w4=0.996649 alf4=-33.243354 xe=0.732642 ye=0.000000 vex=2.161114 vey=0.000000 ve=-2.161114 aex=-97.187452 aey=0.000000 ae=-97.187452曲柄1与x轴夹角:330度 w1=18.011798 alf1=0.000000 xb=0.103923 yb=-0.060000 vbx=1.080708 vby=1.871841 vb=2.161416 abx=-33.715221 aby=19.465492 ab=38.930984 w3=-1.336565 alf3=129.975083 xd=0.185328 yd=0.190661 vdx=0.762725 vdy=-0.247702 vd=0.801939 adx=-74.502750 ady=23.068529 ad=77.992415 w4=0.435405 alf4=-40.612812 xe=0.754229 ye=0.000000 vex=0.845740 vey=0.000000 ve=-0.845740 aex=-82.353871 aey=0.000000 ae=-82.353871曲柄1与x轴夹角:345度 w1=18.011798 alf1=0.000000 xb=0.115911 yb=-0.031058 vbx=0.559416 vby=2.087767 vb=2.161416 abx=-37.604442 aby=10.076080 ab=38.930984 w3=0.346106 alf3=101.634306 xd=0.189145 yd=0.189407 vdx=-0.197075 vdy=0.065464 vd=0.207663 adx=-57.893929 ady=19.155411 ad=60.980626 w4=-0.114987 alf4=-33.650533 xe=0.758465 ye=0.000000 vex=-0.218854 vey=0.000000 ve=-0.218854 aex=-64.275098 aey=0.000000 ae=-64.275098曲柄1与x轴夹角:360度 w1=18.011798 alf1=0.000000 xb=0.120000 yb=-0.000000 vbx=0.000000 vby=2.161416 vb=2.161416 abx=-38.930984 aby=0.000000 ab=38.930984 w3=1.633312 alf3=76.264307 xd=0.180679 yd=0.192150 vdx=-0.934499 vdy=0.295105 vd=0.979987 adx=-44.116591 ady=12.253018 ad=45.786570 w4=-0.519185 alf4=-21.648157 xe=0.749079 ye=0.000000 vex=-1.034260 vey=0.000000 ve=-1.034260 aex=-48.429490 aey=0.000000 ae=-48.429490六连杆运动线图程序源代码：六连杆运动线图#include#include#include #include const double pi=3.14159265358979;void drawst();void drawvb(double y361); void drawab(double y361);void drawvd(double y361); void drawad(double y361);void drawve(double y361); void drawae(double y361);int main(void) int j;double seta;double n1;double l1,l3,l4,l6; double phi,w1,alf1,xb,yb,vbx,vby,abx,aby,vb,ab;double phi1,w3,alf3,xd,yd,vdx,vdy,vr,adx,ady,e1,f1,vd,ad;double phi2,w4,alf4,xe,ye,vex,vey,aex,aey,e2,f2,f3,ve,ae;double vvb361,aab361,vvd361,aad361,vve361,aae361;j=0;l1=0.12; l3=0.6; l4=0.6; l6=0.38; n1=172; w1=n1/30*pi;for(seta=0;seta90&seta=270)phi1=atan(yb+l6)/xb)+pi; elsephi1=atan(yb+l6)/xb);xd=l3*cos(phi1);yd=-l6+l3*sin(phi1);w3=(vby*cos(phi1)-vbx*sin(phi1)/(xb*cos(phi1)+(yb+l6)*sin(phi1);vdx=-w3*(yd+l6);vdy=w3*xd;vr=(vby*(yb+l6)+vbx*xb)/(xb*cos(phi1)+(yb+l6)*sin(phi1);e1=abx+w3*w3*xb+2*w3*vr*sin(phi1);f1=aby+w3*w3*(yb+l6)-2*w3*vr*cos(phi1);alf3=(f1*cos(phi1)-e1*sin(phi1)/(xb*cos(phi1)+(yb+l6)*sin(phi1);adx=-alf3*(yd+l6)-w3*w3*xd; ady=alf3*xd-w3*w3*(yd+l6);vd=sqrt(vdx*vdx+vdy*vdy);ad=sqrt(adx*adx+ady*ady);e2=-2*xd;f2=xd*xd+yd*yd-l4*l4;xe=(-e2+sqrt(e2*e2-4*f2)/2; phi2=atan(-yd)/(xe-xd);w4=(-vdy)/(xe-xd);vex=vdx-l4*w4*sin(phi2);f3=-ady-w4*w4*yd;alf4=f3/(xe-xd);aex=adx+alf4*yd-w4*w4*(xe-xd);aey=0;vey=0;ye=0;ve=-sqrt(vex*vex+vey*vey);ae=-sqrt(aex*aex