Example5 modifief

Author: Mansourt

EVAL7.m

@@ -0,0 +1,57 @@
+% Author: Mansour Torabi
+% Email:  smtoraabi@ymail.com
+
+%%
+clc, clear
+
+syms th0 th x Dth0 Dth Dx
+syms k M m l R r g 
+
+%% Kinetic and Potential Energy
+
+v1x = l1*Dth1*cos(th1) ;
+v1y = -l1*Dth1*sin(th1);
+
+v2x = l2*Dth2*cos(th2) ;
+v2y = -l2*Dth2*sin(th2);
+
+v1t = v1x^2 + v1y^2; 
+v2t = v2x^2 + v2y^2; 
+
+T = 1/2*m1*v1t + 1/2*m2*v2t;
+
+dXX = l0 + l2*sin(th2) - l1*sin(th1);
+dYY = l1*cos(th1) - l2*cos(th2);
+dx = (dXX^2 + dYY^2)^0.5 - l3;
+
+V1 = -m1*g*(l1*cos(th1)) + 1/2*k*dx^2;
+V2 = -m2*g*(l2*cos(th2));
+V = V1 + V2;
+
+L = T - V;
+%%
+q  = [th1, th2];
+Dq = [Dth1, Dth2];
+tt = linspace(0, 20, 500);
+Eq = LagrangeDynamicEqDeriver(L, q, Dq);
+l0n = 2; l1n = 1; l2n = 1.5; l3n = 2;
+[SS, xx] = DynamicEqSolver(Eq, q, Dq, [k m1 m2 l0 l1 l2 l3 g],...
+                           [20,1,3, l0n, l1n, l2n, l3n, 9.81], tt, [pi/6, pi/2.5, 0, 0]);
+%%             
+figure; 
+plot(tt,xx(:,1),'color',[0,0.6,0],'linewidth',2); 
+hold on; 
+plot(tt,xx(:,2),'b','linewidth',2); 
+
+S1 = sprintf('$ \\theta_1$'); 
+S2 = sprintf('$ \\theta_2$');
+H = legend(S1, S2); 
+set(H,'interpreter','latex','fontsize',18,'location','SouthWest');
+
+hx = xlabel('Time (sec)');  set(hx, 'fontsize', 18);
+hy = ylabel('Angles (rad)- Lenghth (m)'); set(hy, 'fontsize', 18);
+set(gca, 'fontsize', 18);
+saveas(gcf, 'Pic/Ex6.png')
+%%
+Animator6(xx(:,1:2), tt, [l0n, l1n, l2n])
+