clc;
清晰的所有；
关闭所有；
% % Parametri
% % Inercija;{kg.m2}
Juc = 2.6e-2;
Jlc = 1e-3;
% % Krutost;{新墨西哥州/ rad}
Kuc = 114.59;
KLC = 687.55;
Kr = 400000;
% % Prigusenje;{新墨西哥州/ rad}
Duc = 6e-2;
DLC = 6;
Dr = 12000;
% % Radijus;{男}
Rpin = 7.78e-3;
% %尸罗;{N}
Fr = 1;
Flim = 75;
fllim_column = 0.2;
fllim_torsion = 0.01;
% %玛莎;{公斤}
Mr = 10;
% %的时刻;{新墨西哥州}
MsAmp = 4.5;
%% Kutna brzina;{rad / s}
Freq = 2;
% %
Kt = {0.3，“新墨西哥州/”}；
J = 0.01;
B = 0.1;
L = 0.5;
R = 1;
K = 0.01;
kESF = 8e6;
kESF_column = 7000;
kesf_torque = 7000;
%% Ulazni podatci
时间= 0.01:0.01:0.2;
Ms = MsAmp*sin(2*pi*频率*时间);
Dm = 0;
Jm = 0;
[中文]:[中文
如果女士> = 3.5
I = 21.29*Ms-69.4;
elseifMs < 3.5 & Ms >= 2
I = 2.73 * Ms - 4.47;
elseifMs < 2 & Ms >= 0
I = 0.5 * Ms;
elseifMs < 0 & Ms >= (-2)
I = 0.5 * Ms;
elseifMs < (-2) & Ms >= (-3.5)
I = 2.73 * Ms + 4.47;
elseifMs < (-3.5)
I = 21.29 * Ms + 69.4;
结束
矩阵A, B, C i D
A = [0 1 0 0 0 0 0 0 0 0 0;
-kuc/Juc -duc/Juc kuc/Juc duc/Juc 0 0 0 0;
0 0 0 1 0 0 0 0 0;
kuc/Jlc duc/Jlc -kuc/Jlc -duc/Jlc -klc/Jlc -dlc/Jlc -dlc/Jlc klc/Jlc*rpin dlc/Jlc*rpin 0;
0 0 0 0 0 1 0 0 0;
0 0 0 0 0 0 0 1 0;
0 0 0 -klc/mr*rpin -dlc/mr*rpin klc/mr*rpin dlc/mr*rpin 0;
0 0 0 0 0 0 0 1;
0 0 0 0 0 0 -dm/Jm];
B = [0 0 0;
1 -k 0;
0 0 0;
K/Jlc 0;
0 0 0;
0 0 0;
0 0 1;
0 0 0;
0 K/Jm 0];
C = b .';
D = 0;
