基于matlab-GUI的平面四杆机构的运动分析.docx

基于matlab GUI的平面四杆机构的运动分析一、目的通过matlab对平面四杆机构进行运动仿真，并以GUI界面方式实现输入输出的参数化，对平面四杆机构进行位置分析、速度分析、加速度分析和静力学分析。此外，通过动画演示，更加形象直观地观察机构的运动过程。最后，将程序编译成.exe独立可执行文件，可以在其它没有安装matlab的机器上运行。二、设计思路通过matlab的GUI功能模块，创建一个图形用户界面，在自动生成的代码框架中对初始化函数和回调函数等进行编辑，建立与控件相关联的程序：控件属性、位置分析、速度分析、加速度分析、静力学分析、动画演示等。图1是平面四杆机构的示意图，输入角q的运动规律为q=pi/50*t2+q0，r1、r2是从动角。对t时刻沿着杆长距离原点A的任意一点进行分析。 注意：输入输出角的单位为度，时间t的取值范围为0：0.05：10，任意点lx的取值范围为0a1+a2+a3，估算的从动角r1、r2的迭代初始值不能偏离平衡位置太大。图1、平面四杆机构示意图三、设计流程1、通过GUI模块创建图形用户界面 命令方式：在Matlab命令窗口键入guide；菜单方式：在Matlab的主窗口中，选择FileNewGUI命令，就会显示GUI的设计模板。如图1所示。图2、创建图形界面2、设计图形界面 在创建之后的图形界面中插入坐标轴axes，静态文本框static text，编辑文本框edit text，按钮push button等等。如图 所示。图3、图形界面设计3、编辑回调函数1）位置分析：输入角的函数为：q=pi/50*t2+q0。在时间t=010s内，每一个时间点估算两个初始从动角，根据牛顿-拉普森迭代得到准确的机构位置。10s刚好主动角经历了360度，记录每一时刻的位置，便可以动画演示。2）速度分析：输入角速度为：dq=pi/25*t。选择杆件上的任意一点（坐标表示为质点沿着杆件到原点A的距离）做分析，正确表达出角速度系数和速度系数，便可以求出质点的速度。3）加速度分析：输入角加速度为：ddq=pi/25。正确表达出向心系数和角加速度系数，便可以求出质点的加速度。4）静力学分析：由虚功原理可知，当广义力Q(V,H)=0(或近似为零)时机构达到平衡，记录该平衡条件下的位置数据。四、结果演示1、机构杆长条件判断1）不符合杆长条件。如图4所示。图4、不符合杆长条件2）符合杆长条件，输出参数。如图5所示。图5、符合杆长条件2、机构运动动画演示。图6、机构动画演示五、生成.exe文件1、安装编译器。可有多种选择，本机安装的是matlab自带的Lcc-win32；2、设置编译器。在matlab命令行输入mbuild setup，选择安装的lcc编译器；3、调用编译器。输入mcc m sgjg，这里sgjg为要转成exe的m文件；4、安装toolboxcompilerdeploywin32目录下的MCRInstaller。MCR是matlab的运行环境，在程序打包时，最好将相应版本的MCR一起打包。在其它机器上运行exe文件前，首先安装matlab的运行环境MCRInstaller.exe。六、附录（程序）function varargout = sgjg(varargin)% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct(gui_Name, mfilename, . gui_Singleton, gui_Singleton, . gui_OpeningFcn, sgjg_OpeningFcn, . gui_OutputFcn, sgjg_OutputFcn, . gui_LayoutFcn, , . gui_Callback, );if nargin & ischar(varargin1) gui_State.gui_Callback = str2func(varargin1);end if nargout varargout1:nargout = gui_mainfcn(gui_State, varargin:);else gui_mainfcn(gui_State, varargin:);end% End initialization code - DO NOT EDIT % - Executes just before sgjg is made visible.function sgjg_OpeningFcn(hObject, eventdata, handles, varargin)% Choose default command line output for sgjghandles.output = hObject;handles.gx=;handles.gy=;axis(handles.motion);imshow(tt.bmp); % 机构示意图% Update handles structureguidata(hObject, handles); % - Outputs from this function are returned to the command line.function varargout = sgjg_OutputFcn(hObject, eventdata, handles) % Get default command line output from handles structurevarargout1 = handles.output; function a1_Callback(hObject, eventdata, handles) function a1_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function a2_Callback(hObject, eventdata, handles) function a2_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function a3_Callback(hObject, eventdata, handles) function a3_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function a4_Callback(hObject, eventdata, handles) function a4_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function q0_Callback(hObject, eventdata, handles) function q0_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function ftol_Callback(hObject, eventdata, handles) function ftol_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function r1_Callback(hObject, eventdata, handles) function r1_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function r2_Callback(hObject, eventdata, handles) function r2_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function t_Callback(hObject, eventdata, handles) function t_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function lx_Callback(hObject, eventdata, handles) function lx_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function lx2_Callback(hObject, eventdata, handles) function lx2_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function lx3_Callback(hObject, eventdata, handles) function lx3_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);endfunction H_Callback(hObject, eventdata, handles) function H_CreateFcn(hObject, eventdata, handles)if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);end function V_Callback(hObject, eventdata, handles) function V_CreateFcn(hObject, eventdata, handles) if ispc & isequal(get(hObject,BackgroundColor), get(0,defaultUicontrolBackgroundColor) set(hObject,BackgroundColor,white);endfunction Calculation_Callback(hObject, eventdata, handles)% hObject handle to Calculation (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)a1=str2num(get(handles.a1,String);a2=str2num(get(handles.a2,String);a3=str2num(get(handles.a3,String);a4=str2num(get(handles.a4,String);q0=str2num(get(handles.q0,String);ftol=str2num(get(handles.ftol,String);r1=str2num(get(handles.r1,String);r2=str2num(get(handles.r2,String);V=str2num(get(handles.V,String);H=str2num(get(handles.H,String);q0=q0*pi/180;r1=r1*pi/180;r2=r2*pi/180;ly1=0;ly2=0;ly3=0;%局部坐标系的第二坐标为0lx1=a1;lx2=a2;lx3=a3;%局部坐标系的第一坐标设一初始值lx=str2num(get(handles.lx,String);%杆上选择一个数据分析的质点if (lx=a1+a2) lx3=lx;else lx2=lx;end gr1=;gr2=;gdx1=;gdx2=;gdx3=;gdy1=;gdy2=;gdy3=;gddx1=;gddx2=;gddx3=;gddy1=;gddy2=;gddy3=; k=a1 a2 a3 a4;lmin=min(k);lmax=max(k);if(lmin+lmax)(a1+a2+a3+a4)-lmin-lmax) errordlg(不符合杆长条件！,Tip)else for t=0:0.05:10 k=0; q=pi/50*t2+q0; f=a1*cos(q)+a2*cos(r1)+a3*cos(r2)-a4 a1*sin(q)+a2*sin(r1)+a3*sin(r2); while(norm(f)ftol) A=-a2*sin(r1) -a3*sin(r2);a2*cos(r1) a3*cos(r2); dr=-Af; r1=r1+dr(1); r2=r2+dr(2); f=a1*cos(q)+a2*cos(r1)+a3*cos(r2)-a4 a1*sin(q)+a2*sin(r1)+a3*sin(r2); k=k+1;%记录迭代次数 end xa=0;ya=0; xb=a1*cos(q);yb=a1*sin(q); xc=a1*cos(q)+a2*cos(r1);yc=a1*sin(q)+a2*sin(r1); xd=a1*cos(q)+a2*cos(r1)+a3*cos(r2);yd=a1*sin(q)+a2*sin(r1)+a3*sin(r2); x=xa xb xc xd;y=ya yb yc yd; handles.gx=handles.gx x;%记录机构每一时刻的位置，用于动画演示 handles.gy=handles.gy y; %-速度分析- dq=pi/25*t; w1=1; w2=a1*sin(r2-q)/(a2*sin(r1-r2); w3=a1*sin(r1-q)/(a3*sin(r2-r1); u1=(-lx1*sin(q)-ly1*cos(q)*w1; v1=(lx1*cos(q)-ly1*sin(q)*w1; u2=-a1*sin(q)-(lx2*sin(r1)+ly2*cos(r1)*w2; v2=a1*cos(q)+(lx2*cos(r1)-ly2*sin(r1)*w2; u3=(-lx3*sin(r2)-ly3*cos(r2)+a3*sin(r2)*w3; v3=(lx3*cos(r2)-ly3*sin(r2)-a3*cos(r2)*w3; dx1=u1*dq;dy1=v1*dq; %1 dx2=u2*dq;dy2=v2*dq; dx3=u3*dq;dy3=v3*dq; %-加速度分析- ddq=pi/25; dw1=0; dw2=w2*(w3-1)*atan(r2-q)-(w2-w3)*atan(r1-r2); dw3=w3*(w2-1)*atan(r1-q)-(w3-w2)*atan(r2-r1); du1=(-lx1*sin(q)-ly1*cos(q)*dw1+(-lx1*cos(q)+ly1*sin(q)*w12; dv1=(lx1*cos(q)-ly1*sin(q)*dw1+(-lx1*sin(q)-ly1*cos(q)*w12; du2=-a1*sin(q)*dw1-a1*cos(q)*w12-(lx2*sin(r1)+ly2*cos(r1)*dw2-(lx2*cos(r1)-ly2*sin(r1)*w22; dv2=a1*cos(q)*dw1-a1*sin(q)*w12+(lx2*cos(r1)-ly2*sin(r1)*dw2-(lx2*sin(r1)+ly2*cos(r1)*w22; du3=-(lx3*sin(r2)+ly3*cos(r2)-a3*sin(r2)*dw3-(lx3*cos(r2)-ly3*sin(r2)-a3*cos(r2)*w32; dv3=(lx3*cos(r2)-ly3*sin(r2)-a3*cos(r2)*dw3-(lx3*sin(r2)+ly3*cos(r2)-a3*sin(r2)*w32; ddx1=u1*ddq+du1*dq2;ddy1=v1*ddq+dv1*dq2; %杆1上质点的加速度 ddx2=u2*ddq+du2*dq2;ddy2=v2*ddq+dv2*dq2; ddx3=u3*ddq+du3*dq2;ddy3=v3*ddq+dv3*dq2; %-静力学分析- Q=a1*(V*cos(q)+H*sin(r2)*sin(q-r1)/sin(r1-r2); if Qftol qe=q;re1=r1;re2=r2; end gr1=gr1 r1;gr2=gr2 r2;%记录机构每一时刻的位置、速度、加速度 gdx1=gdx1 dx1;gdx2=gdx2 dx2;gdx3=gdx3 dx3; gdy1=gdy1 dy1;gdy2=gdy2 dy2;gdy3=gdy3 dy3; gddx1=gddx1 ddx1;gddx2=gddx2 ddx2;gddx3=gddx3 ddx3; gddy1=gddy1 ddy1;gddy2=gddy2 ddy2;gddy3=gddy3 ddy3; end t=str2num(get(handles.t,String); n=20*t+1; r1=gr1(n);r2=gr2(n); r1=r1*180/pi;r2=r2*180/pi; qe=qe*180/pi;re1=re1*180/pi;re2=re2*180/pi; dx1=gdx1(n);dx2=gdx2(n);dx3=gdx3(n); dy1=gdy1(n);dy2=gdy2(n);dy3=gdy3(n); ddx1=gddx1(n);ddx2=gddx2(n);ddx3=gddx3(n); ddy1=gddy1(n);ddy2=gddy2(n);ddy3=gddy3(n); set(handles.dispr1,String,num2str(r1); set(handles.dispr2,String,num2str(r2); if (lx=a1+a2) set(handles.dispdx,String,num2str(dx3)