离散积分法

m=length(WIJ(:,1); W0=zeros(n,1); W=zeros(n,n); for k=1:m

if (WIJ(k,2)==0);W0(WIJ(k,l)=WIJ(k,3); els W(WIJ(k,1),(WIJ(k,2)))=WIJ(k,3); end; end; for i=1:n

if(A(i==0);

FI(i)=1;

FIM(i)=h*C(i)/B(i); FIJ(i)=h*h*C(i)/B(i)/2; FIC(i)=1; FID(i)=0; if(D(i)~=0);

FID(i)=D(i)/B(i); els end else

FI(i)=exp(-h*A(i)/B(i)); FIM(i)=(1-FI(i)*C(i)/A(i);

FIJ(i)=h*C(i)/A(i)- FIM(i)*B(i)/A(i); FIC(i)=1; FID(i)=0; if(D(i)~=0);

FIC(i)=C(i)/D(i)-A(i)/B(i); FID(i)=D(i)/B(i); els end end end

Y=zeros(n,1);X=Y;y=0;Uk=zeros(n,1);Ubb=Uk; t=T0:h*L1:Tf;N=length(t); for k=1:N-1 for l=1:L1 Ub=Uk;

Uk=W*Y+W0*Y0; for i=1;n if(Z(i)~=0) if(Z(i)==1)

Uk(i)=satu(Uk(i),S(i));

end

if(Z(i)==2)

Uk(i)=dead(Uk(i),S(i)); end

if(Z(i)==3)

[Uk(i), Ubb(i)[=backlash(Ubb(i), Uk(i), Ub(i), S(i)); end end end

Udot=(Uk-Ub)/h; Uf=2*Uk-Ub;

X=FI’ . *X+FIM’ . *Uk+FIJ’ . *Udot; Yb=Y;

Y=FIC’ . *X+FID’ . *Uf; for i=1:n if(Z(i)~=0)

if(Z(i)==4)

Y(i)=satu(Uk(i),S(i)); end

if(Z(i)==5)

Y(i)=dead(Uk(i),S(i)); End if(Z(i)==6)

[Y(i), Ubb(i)[=backlash(Ubb(i), Y(i), Yb(i), S(i)); end end end end

y=[y,Y(nout)]; end plot(t,y)

function [Uc,Ubb]=backlash(Urb,Ur,Ucb,Sl) if (Ur>Urb)

if ((Ur-Sl)>=Ucb) Uc=Ur-S1; else Uc=Ucb; end

else if(Urelse Uc=Ucb; end end Ubb=Ur