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1、附件:常用二级阿苏尔杆组SUB LINK(XA, YA, VAX, VAY, AAX, AAY, QAB, W, E, L, XB, YB, VBX, VBY, ABX, ABY)SUB RRR(XA, YA, VAX, VAY, AAX, AAY, XC, YC, VCX, VCY, ACX, ACY, LAB, LCB, QAB, WAB, EAB, QCB, WCB, ECB)SUB RRP(M, YB, L, YA, VAY, AAY, QAB, WAB, EAB)SUB RRP1(M, XB, L, XA, VAX, AAX, QAB, WAB, EAB)SUB RPR(M, XA,
2、 YA, VAX, VAY, AAX, AAY, XC, YC, VCX, VCY, ACX, ACY, LAB, QBD, WBD, EBD)常用二级阿苏尔杆组子程序! 6 SUBS: LINK, RRR, RPR, RRP, RRP1, INTERSECTSUB LINK(XA,YA,VAX,VAY,AAX,AAY,QAB,W,E,L,XB,YB,VBX,VBY,ABX,ABY) XB=XA+L*COS(QAB) YB=YA+L*SIN(QAB) VBX=VAX-L*SIN(QAB)*W VBY=VAY+L*COS(QAB)*W ABX=AAX-L*COS(QAB)*W2-L*SIN(QA
3、B)*E ABY=AAY-L*SIN(QAB)*W2+L*COS(QAB)*EEND SUBSUB RRR(XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,LCB,QAB,WAB,EAB,QCB,WCB,ECB) LAC=SQR(XC-XA)2+(YC-YA)2) COSQAC=(XC-XA)/LAC SINQAC=(YC-YA)/LAC QAC=ANGLE(COSQAC,SINQAC) COSQCBA=(LAB2+LAC2-LCB2)/(2*LAB*LAC) SINQCBA=SQR(1-COSQCBA2) QCBA=ANGLE(COSQCBA,
4、SINQCBA) QAB=QAC-QCBA XB=XA+LAB*COS(QAB) YB=YA+LAB*SIN(QAB) COSQCB=(XB-XC)/LCB SINQCB=(YB-YC)/LCB QCB=ANGLE(COSQCB,SINQCB) WAB=(VAX-VCX)*COSQCB+(VAY-VCY)*SINQCB)/LAB/SIN(QAB-QCB) WCB=(VAX-VCX)*COS(QAB)+(VAY-VCY)*SIN(QAB)/LCB/SIN(QAB-QCB) G=AAX-ACX-LAB*COS(QAB)*WAB2+LCB*COSQCB*WCB2 F=AAY-ACY-LAB*SIN(
5、QAB)*WAB2+LCB*SINQCB*WCB2 EAB=(G*COSQCB+F*SINQCB)/LAB/SIN(QAB-QCB) ECB=(G*COS(QAB)+F*SIN(QAB)/LCB/SIN(QAB-QCB)END SUBSUB RPR(M,XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,QBD,W,E) LAC=SQR(XC-XA)2+(YC-YA)2) COSQAC=(XC-XA)/LAC SINQAC=(YC-YA)/LAC QAC=ANGLE(COSQAC,SINQAC) LBC=SQR(LAC2-LAB2) QACB=ATN
6、(LAB/LBC) QBD=QAC+M*QACB DELTA=-(YC-YA)*SIN(QBD)-(XC-XA)*COS(QBD) DELTAW=(VCX-VAX)*SIN(QBD)-(VCY-VAY)*COS(QBD) DELTAV=-(YC-YA)*(VCY-VAY)-(XC-XA)*(VCX-VAX) W=DELTAW/DELTA VLBC=DELTAV/DELTA T1=(ACX-AAX)+(VCY-VAY)*W+SIN(QBD)*W*VLBC T2=(ACY-AAY)-(VCX-VAX)*W-COS(QBD)*W*VLBC DELTAE=T1*SIN(QBD)-T2*COS(QBD)
7、 E=DELTAE/DELTAEND SUBSUB RRP(M,YB,LAB,YA,VAY,AAY,QAB,W,E) ! THE GUIDEWAY IS HORIZONTAL ! B IS THE REVOLUTE BETWEEN COUPLER AND SLIDING BLOCK ! IF XBXA THEN M=+1,OTHERWISE, M=-1 SINQAB=(YB-YA)/LAB COSQAB=M*SQR(1-SINQAB2) QAB=ANGLE(COSQAB,SINQAB) W=-VAY/(LAB*COSQAB) E=(-AAY*COSQAB-VAY*SINQAB*W)/(LAB*
8、COSQAB2)END SUBSUB RRP1(M,XB,LAB,XA,VAX,AAX,QAB,W,E) ! THE GUIDEWAY IS VERTICAL ! B IS THE REVOLUTE BETWEEN COUPLER AND SLIDING BLOCK ! IF YBYA THEN M=+1,OTHERWISE, M=-1 COSQAB=(XB-XA)/LAB SINQAB=M*SQR(1-COSQAB2) QAB=ANGLE(COSQAB,SINQAB) W=VAX/(LAB*SINQAB) E=(AAX*SINQAB-VAX*COSQAB*W)/(LAB*SINQAB2)END SUBSUB INTERSECT(X1, Y1, Q1, X2, Y2, Q2, X, Y) X=(X1*TAN(Q1)-X2*TAN(Q2)-Y1+Y2)/(TAN(Q1)-TAN(Q2) Y=(X-X1)*TAN(Q1)+Y1END SUB
