1、已知连杆长度：，连杆的转速：，设曲柄r2以匀速旋转，。初始条件：仿真以为输入，计算和，仿真时间0.5s。、运动分析 建立封闭矢量方程：r2+r3=r1（9）将（9）式分解到x与y轴坐标上，得到：r2cos2+r3cos3=r1r2sin2+r3sin3=0（10）可得：r1=r2cos2+r3cos33=-arcsin（r2/r3）（11）对（10）式对时间求导得： -r22sin2+ r33sin3=v1 r22cos2+ r33cos3=0 （12）将上式用矩阵形式表示，令： A= r3sin3 1-r3cos3 0 X= 3 v1 B=-r22sin2 r22cos2则（12）可表示为：
2、AX=B。 （13）从而可解出3与v1。三、MATLAB程序编写 源代码如下：function varargout = z1（varargin）% Z1 MATLAB code for z1.fig% Z1, by itself, creates a new Z1 or raises the existing% singleton*.% H = Z1 returns the handle to a new Z1 or the handle to% the existing singleton*.% Z1（CALLBACK,hObject,eventData,handles,.） calls t
3、he local% function named CALLBACK in Z1.M with the given input arguments.Property,Value,.） creates a new Z1 or raises the% existing singleton*. Starting from the left, property value pairs are% applied to the GUI before z1_OpeningFcn gets called. An% unrecognized property name or invalid value makes
4、 property application% stop. All inputs are passed to z1_OpeningFcn via varargin.% *See GUI Options on GUIDEs Tools menu. Choose GUI allows only one% instance to run （singleton）.% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help z1% Last Modified by GUIDE v2.5
5、 29-Dec-2016 22:57:13% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct（gui_Name, mfilename, . gui_Singleton, gui_Singleton, .gui_OpeningFcn, z1_OpeningFcn, .gui_OutputFcn, z1_OutputFcn, .gui_LayoutFcn, , .gui_Callback, ）;if nargin & ischar（varargin1） gui_State.gui_Callbac
6、k = str2func（varargin1）;endif nargout varargout1:nargout = gui_mainfcn（gui_State, varargin:）;else gui_mainfcn（gui_State, varargin:% End initialization code - DO NOT EDIT% - Executes just before z1 is made visible.function z1_OpeningFcn（hObject, eventdata, handles, varargin）% This function has no out
7、put args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data （see GUIDATA）% varargin command line arguments to z1 （see VARARGIN）% Choose default command line output for z1handles.output = hObject;%
8、Update handles structureguidata（hObject, handles）;axes（handles.axes3）map1=imread（1.bmp）;imshow（map1）% UIWAIT makes z1 wait for user response （see UIRESUME）% uiwait（handles.figure1）;% - Outputs from this function are returned to the command line.function varargout = z1_OutputFcn（hObject, eventdata, h
9、andles） % varargout cell array for returning output args （see VARARGOUT）;% Get default command line output from handles structurevarargout1 = handles.output;% - Executes on button press in pushbuttonRun.function pushbuttonRun_Callback（hObject, eventdata, handles）%主要计算程序r2=0.1;%单位mr3=0.4;omiga2=str2d
10、ouble（get（handles.edit1,String）; %单位rad/sx11=1:500 %单位msfor i=1:500 theta2（i）=i*omiga2/1000; theta3（i）=asin（-r2/r3*sin（theta2（i）; B=-r2*omiga2*sin（theta2（i）;r2*omiga2*cos（theta2（i）; A=r3*sin（theta3（i） 1;-r3*cos（theta3（i） 0; X=inv（A）*B; omiga3（i）=X（1,1）; v3（i）=X（2,1）;end axes（handles.axes1） %制表1plot（
11、x11/1000,omiga3）;xlabel（时间（t/s） ylabel（连杆角速度3（rad/s）axes（handles.axes2） %制表2plot（x11/1000,v3）;滑块速度v1（m/s）% hObject handle to pushbuttonRun （see GCBO）function edit1_Callback（hObject, eventdata, handles）% hObject handle to edit1 （see GCBO）% Hints: get（hObject,） returns contents of edit1 as text% str2d
12、ouble（get（hObject,） returns contents of edit1 as a double% - Executes during object creation, after setting all properties.function edit1_CreateFcn（hObject, eventdata, handles）% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background
13、 on Windows.% See ISPC and COMPUTER.if ispc & isequal（get（hObject,BackgroundColor）, get（0,defaultUicontrolBackgroundColor） set（hObject,white% - Executes on button press in pushbuttonExit.function pushbuttonExit_Callback（hObject, eventdata, handles）ss=questdlg（确认退出？退出信息窗口！继续仿真！退出仿真！switch ss case delete（handles.figure1）;% hObject handle to pushbuttonExit （see GCBO）四、使用指南和实例仿真进入MATLAB软件，打开并运行程序。初始界面：对2的值进行修改，修改为实例中的50*2*pi=314.16，点击开始仿真按钮，得到仿真结果：点击退出仿真按钮，进入退出界面：点击继续仿真按钮，则回到程序界面；点击退出仿真按钮，则退出程序。五、结语由四，通过MATLAB仿真得到的结果与实际情况符合。通过该次作业，我了解并初步掌握了MATLAB的语言编写和guide界面的使用，巩固并加深了对课上知识的理解，受益良多。
