70 lines
1.3 KiB
Matlab
70 lines
1.3 KiB
Matlab
clear all;
|
|
%% INPUT PARAMETERS:
|
|
% tT=[0, 1, 2, 3, 4, 5]; %times
|
|
% xT=[0, 1, -2, 4, 5, -1]; %positions
|
|
% vT=[0, 0, 0, 0, 0, 0 ]; %velocities
|
|
n=10
|
|
tT=linspace(0,10,n);
|
|
xT=rand(n,1);
|
|
vT=zeros(n,1);
|
|
for i = 2:(numel(tT)-1)
|
|
vT(i)=(xT(i+1)-xT(i-1))/tT(2)
|
|
|
|
end
|
|
|
|
|
|
dt=0.01;
|
|
|
|
for i = 1:(numel(tT)-1)
|
|
[c1, c2, c3, c4 ] = pvt(xT(i),xT(i+1), vT(i),vT(i+1), tT(i),tT(i+1));
|
|
|
|
%% STEP THROUGH PROFILE WITH GIVEN SAMPLE RATE:
|
|
%Vectors for results
|
|
T = tT(i):dt:tT(i+1);
|
|
X = zeros(length(T),1);
|
|
V = zeros(length(T),1);
|
|
A = zeros(length(T),1);
|
|
J = zeros(length(T),1);
|
|
|
|
for (ii = 1:length(T))
|
|
t = T(ii);
|
|
j= 6*c1;
|
|
a= 6*c1*t + 2*c2;
|
|
v= 3*c1*t^2 + 2*c2*t + c3;
|
|
x= c1*t^3 + c2*t^2 + c3*t + c4;
|
|
%Write to vectors
|
|
X(ii)=x;
|
|
V(ii)=v;
|
|
A(ii)=a;
|
|
J(ii)=j;
|
|
end
|
|
|
|
|
|
%% PLOT CURVES:
|
|
subplot (4,1,1);
|
|
plot(T, X,'r-');
|
|
hold on;
|
|
ylabel('x(t)[m]');
|
|
|
|
subplot (4,1,2);
|
|
plot(T, V,'g-');
|
|
hold on;
|
|
ylabel('v(t)[m/s]');
|
|
|
|
subplot (4,1,3);
|
|
plot(T, A,'b-');
|
|
hold on;
|
|
ylabel('a(t)[m/s^2]');
|
|
|
|
subplot (4,1,4);
|
|
plot(T, J,'k-');
|
|
hold on;
|
|
ylabel('j(t)[m/s^3]');
|
|
xlabel('t[s]');
|
|
end
|
|
|
|
|
|
subplot (4,1,1);
|
|
stem(tT,xT);
|
|
hold on;
|
|
|