Алгоритм кратной синхронизации для регулирования расфазировки роторов виброустановки с учетом динамики привода, страница 37

a13=J+J_1+J_2-2*m*rho*r*(cos(x7)-cos(x9));

a14=J_1-m*r*rho*cos(x7);

a15=J_2+m*r*rho*cos(x9);

a16=m*rho*sin(x5+x7);

a17=m*rho*cos(x5+x7);

a18=J_1-m*r*rho*cos(x7);

a19=J_1;

a21=m*rho*sin(x5+x9);

a22=m*rho*cos(x5+x9);

a23=J_2+m*r*rho*cos(x9);

a25=J_2;

b1=-m*rho*(cos(x5+x7)+cos(x5+x9))*x6^2-m*rho*cos(x5+x7)*x8^2-...

m*rho*cos(x5+x9)*x10^2-2*m*rho*cos(x5+...

x7)*x6*x8-2*m*rho*cos(x5+x9)*x6*x10+beta*x2+2*c_1*x1+c_4*(x1-x11);

b2=-m*rho*(sin(x5+x7)+ sin(x5+x9))*x6^2-m*rho*sin(x5+x7)*x8^2-...

m*rho*sin(x5+x9)*x10^2-2*m*rho*sin(x5+...

x7)*x6*x8-2*m*rho*sin(x5+x9)*x6*x10+...

m_0*g+2*c_2*x3+beta*x4+c_5*(x3-x13);

b3=2*m*rho*r*sin(x7)*x6*x8-2*m*rho*r*sin(x9)*x6*x10+...

m*r*rho*sin(x7)*x8^2-m*r*rho*sin(x9)*x10^2+...

m*g*rho*(cos(x5+x7)+cos(x5+x9))+beta*x6+c_3*sin(2*x5);

b4=-m*rho*r*sin(x7)*x6^2+m*rho*g*cos(x5+x7)+k_c*x8-x16;

b5=m*rho*r*sin(x9)*x6^2+m*rho*g*cos(x5+ x9)+k_c*x10-x17;

delta=a10*a16*a14*a22*a3-a7*a16*a14*a25*a3+a5*a11*a19*a22*a8-a5*a12*a8*a21*a19-...

a5*a11*a9*a22*a18+a5*a14*a21*a17*a8+a5*a12*a18*a21*a9-a5*a17*a13*a21*a9+...

a7*a11*a19*a25*a3-a5*a12*a16*a9*a23+a5*a13*a22*a16*a9-a5*a16*a14*a22*a8+...

a5*a17*a11*a9*a23+a5*a7*a16*a14*a23-a5*a7*a11*a19*a23-a5*a7*a14*a21*a18+...

a5*a7*a13*a21*a19+a7*a15*a1*a19*a23-a7*a13*a25*a1*a19-a7*a15*a3*a21*a19+...

a7*a14*a25*a1*a18-a7*a11*a18*a25*a4+a7*a15*a4*a21*a18-a7*a16*a15*a4*a23+...

a7*a16*a13*a25*a4-a16*a12*a8*a25*a4+a16*a12*a10*a4*a23+a16*a15*a4*a22*a8-...

a16*a13*a22*a10*a4-a12*a10*a4*a21*a18+a11*a17*a8*a25*a4-a15*a4*a21*a17*a8-...

a11*a17*a10*a4*a23+a13*a21*a17*a10*a4+a11*a18*a22*a10*a4-a15*a1*a19*a22*a8-...

a14*a25*a1*a17*a8+a12*a8*a25*a1*a19+a10*a14*a23*a17*a1-a10*a14*a21*a17*a3-a10*a12*a19*a1*a23-a10*a14*a22*a18*a1+a10*a13*a22*a19*a1+a10*a12*a3*a21*a19...

-a10*a11*a19*a22*a3-a15*a9*a22*a16*a3+a12*a16*a3*a25*a9+a1*a15*a9*a22*a18-...

a1*a12*a18*a25*a9-a17*a1*a15*a9*a23+a17*a1*a13*a25*a9+a17*a15*a9*a21*a3-...

a17*a11*a3*a25*a9;

xdot(2)=(a5*a18*a14*a22*b2-a10*b1*a17*a14*a23-a5*b4*a12*a9*a23-a5*a18*b3*a22*a9+ a5*a18*a12*a9*b5+...

a5*a9*a17*a23*b3-a5*a9*a17*b5*a13+b4*a10*a14*a22*a3-a18*a12*a10*a4*b5+a7*a18*a15*a4*b5+...

a7*b4*a13*a25*a4-a7*a18*b3*a25*a4-a7*b4*a15*a4*a23-a8*a17*a15*a4*b5-b4*a15*a9*a22*a3-...

b2*a17*a13*a25*a4+b2*a17*a15*a4*a23+b2*a17*a14*a25*a3-a7*a19*a3*a15*b5-...

a7*b4*a14*a25*a3+a7*a19*a25*a3*b3+a7*a19*a25*b1*a13-a7*a19*b1*a15*a23-...

a7*a18*a14*a25*b1-a5*a7*a18*a14*b5+a5*a7*a19*b5*a13-a5*a7*a19*a23*b3+a5*a7*b4*a14*a23+...

a5*a19*a23*a12*b2-a5*a19*b5*a12*a8-a5*a19*a22*b2*a13+a5*a19*a22*a8*b3-...

a5*b2*a17*a14*a23+a5*b4*a13*a22*a9-a5*b4*a14*a22*a8+a9*a17*b1*a15*a23+...  

a18*a10*a14*a22*b1+a19*b1*a15*a22*a8+a18*a12*b1*a25*a9+a8*a17*a14*a25*b1- a19*a22*a10*b1*a13-a9*a17*a25*a3*b3+a18*a12*b2*a25*a4+a19*b1*a12*a10*a23-...

a18*a15*a4*a22*b2+b4*a15*a4*a22*a8-a10*a4*a17*a23*b3-a10*a3*a17*a14*b5+...

a18*b3*a22*a10*a4+b4*a12*a10*a4*a23+a8*a17*b3*a25*a4-b4*a12*a8*a25*a4-...

a19*a10*a22*a3*b3+a19*a3*a15*a22*b2+a19*a3*a12*a10*b5-a19*a25*a3*a12*b2+...

a9*a17*a3*a15*b5-b4*a13*a22*a10*a4+a10*a4*a17*b5*a13-a9*a17*a25*b1*a13-a18*a15*a9*a22*b1-a19*a25*b1*a12*a8+b4*a12*a3*a25*a9+a5*a8*a17*a14*b5)/delta;

xdot(4)=(b4*a11*a10*a4*a23-a19*a21*a10*b1*a13-a10*b1*a16*a14*a23-a19*b5*a10*a1*a13- a9*a16*a25*b1*a13+a9*a16*b1*a15*a23-b4*a10*a14*a23*a1+a18*a10*a14*b5*a1+...

a8*a16*a14*a25*b1+a19*a10*a23*a1*b3+b4*a15*a4*a21*a8-b4*a13*a21*a10*a4+b4*a14*a25*a1*a8+b4*a10*a14*a21*a3-b4*a5*a14*a21*a8+b4*a5*a13*a21*a9-b4*a5*a11*a9*a23-b4*a11*a8*a25*a4+a18*a10*a14*a21*b1+a18*a11*b2*a25*a4+...

a18*b3*a21*a10*a4-a18*a15*a4*a21*b2-a18*a11*a10*a4*b5+a18*a5*a11*a9*b5-...

a18*a5*b3*a21*a9+a18*a5*a14*a21*b2-a18*a14*a25*a1*b2-a18*a1*a15*a9*b5+a18*a1*b3*a25*a9-a18*a15*a9*a21*b1+a18*a11*b1*a25*a9+b4*a1*a15*a9*a23-...

b4*a1*a13*a25*a9-b4*a15*a9*a21*a3+b4*a11*a3*a25*a9+a19*b1*a15*a21*a8-...

a19*b5*a5*a11*a8+a19*a5*a23*a11*b2-a19*a10*a21*a3*b3-a19*a25*a3*a11*b2+...

a19*a25*a1*b2*a13-a19*a25*b1*a11*a8-a19*a25*a1*a8*b3-a19*a21*a5*b2*a13+...   

a19*a5*a21*a8*b3+a19*a3*a11*a10*b5+a19*a3*a15*a21*b2+a19*b1*a11*a10*a23+ a16*a5*a9*a23*b3-a16*a5*a9*b5*a13-a16*a5*b2*a14*a23+a16*a5*a8*a14*b5-...