Tspeed.h程序
|
1
2
3
4
5
6
7
8
9
10
|
#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
|
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
|
#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
|
1
2
3
4
5
6
7
8
|
#include"Tspeed.h"
int main()
{
Tspeed();
system("pause");
return 0;
}
|
CMakeLists.txt程序
|
1
2
3
|
project(T_CHABU)
include_directories(include)
add_executable(main_cmake main.cpp src/Tspeed.cpp)
|
Matlab程序
|
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
|
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 on
subplot(3, 1, 2)
plot(t, pd, 'b', 'LineWidth', 1.5)
ylabel('velocity')
grid on
subplot(3, 1, 3)
plot(t, pdd, 'g', 'LineWidth', 1.5)
ylabel('acceleration')
grid on
|
总结
本篇文章就到这里了，希望能够给你带来帮助，也希望您能够多多关注服务器之家的更多内容！
原文链接：https://blog.csdn.net/qq_37621488/article/details/121024451