rm_balance/utils/6. 综合运动控制验证/K-L0/K.m
2026-02-05 17:59:49 +08:00

28 lines
3.1 KiB
Matlab

close all;
clear;clc;
L0=[0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30 0.31 0.32 0.33 0.34 0.35 0.36];
K11=[-13.0207 -13.6522 -14.2545 -14.8292 -15.3780 -15.9028 -16.4052 -16.8868 -17.3490 -17.7934 -18.2212 -18.6337 -19.0320 -19.4172 -19.7902 -20.1519 -20.5031 -20.8445 -21.1769 -21.5008 -21.8169 -22.1256 -22.4274 -22.7227 -23.0120];
K12=[-1.3999 -1.4844 -1.5691 -1.6540 -1.7390 -1.8240 -1.9090 -1.9940 -2.0790 -2.1640 -2.2490 -2.3340 -2.4191 -2.5042 -2.5893 -2.6745 -2.7597 -2.8451 -2.9305 -3.0160 -3.1016 -3.1873 -3.2732 -3.3592 -3.4453];
K13=[-3.6148 -3.6840 -3.7481 -3.8071 -3.8611 -3.9104 -3.9552 -3.9960 -4.0330 -4.0666 -4.0971 -4.1249 -4.1501 -4.1730 -4.1940 -4.2130 -4.2304 -4.2464 -4.2609 -4.2743 -4.2866 -4.2979 -4.3083 -4.3179 -4.3267];
K14=[-3.8656 -3.9320 -3.9955 -4.0559 -4.1129 -4.1667 -4.2173 -4.2648 -4.3096 -4.3518 -4.3915 -4.4291 -4.4647 -4.4985 -4.5307 -4.5613 -4.5906 -4.6187 -4.6457 -4.6717 -4.6967 -4.7209 -4.7444 -4.7671 -4.7892];
K15=[6.2710 6.0483 5.8343 5.6293 5.4333 5.2462 5.0681 4.8986 4.7375 4.5845 4.4393 4.3014 4.1706 4.0464 3.9284 3.8164 3.7100 3.6088 3.5125 3.4209 3.3336 3.2505 3.1712 3.0955 3.0232];
K16=[1.1563 1.1201 1.0854 1.0522 1.0206 0.9904 0.9617 0.9343 0.9083 0.8836 0.8602 0.8379 0.8167 0.7966 0.7775 0.7593 0.7421 0.7256 0.7100 0.6951 0.6809 0.6674 0.6545 0.6422 0.6304];
K21=[11.9463 11.9148 11.8490 11.7565 11.6436 11.5153 11.3760 11.2290 11.0769 10.9220 10.7660 10.6102 10.4556 10.3030 10.1531 10.0063 9.8629 9.7231 9.5871 9.4549 9.3266 9.2021 9.0814 8.9645 8.8513];
K22=[1.8154 1.7992 1.7822 1.7645 1.7465 1.7284 1.7103 1.6924 1.6747 1.6574 1.6405 1.6241 1.6081 1.5926 1.5776 1.5631 1.5491 1.5356 1.5225 1.5099 1.4978 1.4860 1.4747 1.4638 1.4532];
K23=[5.2662 5.0707 4.8792 4.6930 4.5131 4.3401 4.1744 4.0161 3.8652 3.7216 3.5852 3.4556 3.3327 3.2160 3.1053 3.0003 2.9006 2.8060 2.7162 2.6308 2.5496 2.4724 2.3989 2.3289 2.2622];
K24=[5.3712 5.1585 4.9545 4.7593 4.5731 4.3960 4.2278 4.0683 3.9172 3.7741 3.6388 3.5107 3.3895 3.2748 3.1663 3.0635 2.9662 2.8739 2.7863 2.7032 2.6243 2.5493 2.4779 2.4100 2.3453];
K25=[11.6084 11.9794 12.3174 12.6247 12.9036 13.1566 13.3861 13.5942 13.7831 13.9546 14.1105 14.2524 14.3817 14.4997 14.6076 14.7063 14.7968 14.8800 14.9564 15.0268 15.0918 15.1518 15.2074 15.2589 15.3067];
K26=[1.7058 1.7715 1.8315 1.8863 1.9362 1.9817 2.0231 2.0609 2.0953 2.1267 2.1553 2.1815 2.2055 2.2276 2.2478 2.2664 2.2835 2.2993 2.3139 2.3274 2.3399 2.3515 2.3623 2.3724 2.3817];
% K11=-172.5944*L_0^3+194.4583*L_0^2-102.6573*L_0-3.2160
% K12=-0.9840*L_0^3+0.4770*L_0^2-8.5684*L_0-0.3764
% K13=-38.8812*L_0^3+40.3986*L_0^2-15.0820*L_0-2.3214
% K14=-25.9829*L_0^3+28.2485*L_0^2-12.5490*L_0-2.7215
% K15=-53.1626*L_0^3+71.4193*L_0^2-37.8708*L_0+9.8810
% K16=-8.7478*L_0^3+11.6234*L_0^2-6.1338*L_0+1.7402
% K21=182.7742*L_0^3-134.1998*L_0^2+17.2318*L_0+11.5442
% K22=5.0007*L_0^3-1.7221*L_0^2-1.6219*L_0+2.0283
% K23=-34.7106*L_0^3+55.1695*L_0^2-32.5200*L_0+8.4420
% K24=-55.6192*L_0^3+72.6502*L_0^2-37.0784*L_0+8.8727
% K25=214.7065*L_0^3-218.2300*L_0^2+79.9589*L_0+4.8045
% K26=36.3354*L_0^3-37.3084*L_0^2+13.9211*L_0+0.5130