hw4 - 4E 1?r’iOuff‘éix/jéif mea M—2 g 58W I‘AQ...

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Unformatted text preview: ' 4E 1%??r’iOuff‘éix/jéif mea M—2 g: 58W I‘AQ W§<IL£ELM£K K j I] IQWX 'hw H” mmgfixre;§z.m& 11¢»? fix (gm; EMS 5;; wfi » m? slay mg 4% Mm wfifrfi mam/é 5m a"? 4’“ (Q3 a“: GM; éfieégm ziWMH‘Hfig ‘ I j» A N g #6) «iwm , .1 W 3% if (9;) wt 32 1:“ “2‘ fa“ Fr: El» 4” £¥QCL3Wfi 2a £143 ‘{+ (~54) "4“ A4; <3;th «Q33; 6% wk V ( {f "3 24-5“in (LVQSLMA't “W (A; “ism ad: \ubfi-{Ax 2M 6%, £59441 ’5“ Hi3 WT” $743} NZ” 3M W‘E 3‘ w?“ Cm» w‘f; R NA} w?” 8M wt *”‘““" 79% W2” {91:} wt; “3“” qf£§~ fii‘m mfg; W" gfi» 005W€3 a: q (as mt Cs» U 251$ was doa‘éfiamfij SM Wt E“ 2" .3 "‘V‘ibb WI; ‘4“ 3 j: «*3! effigmifi Wk W43Wl‘“q’é‘%’£® “WE§.WG2:W 35,3, @474, A? (m1 Mb ‘55 (wz~+ 2+) w “a: A§fi® wmgfi, mi; :3: $3ch M 53“ f: I C65 Liv-33b M C/Wcmzfi has/m (amtxflmm mm, (5’ [6) 3 95*“ Magi? 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("D Q.) q = inline('.Ol*sin(2*t)—.5063*cos(2*t)+.5263*cos(1.8*t)'); qn = inline('.Ol*sin(2*t)—.5063*cos(2*t)‘); qf = inline('.5263*cos(2*t)'); t = O:.OOl:16; t2 = O:.OOl:100; Pn = 2*pi/2; Pf = 2*pi/l.8; Prapid = 3.307; Pslow = 62.832; subplot(311) plot(t,qn(t),tzqf(t)) hold on;grid title('Solution Parts — NAME') xlabel('time (s)');ylabel('Solutions (m)') legend('q~n(t)','q_f(t)','Location','Best') Sprlot(312) Plot(t,q(t)) hold on;grid title('Total Solution — NAME') xlabel('time (s)');ylabel('Solution (m)') plot(Pn,q(Pn),'*k',Pf,q(Pf) '*r',Pf,O,'r*',Pn,O,'k*') legend('q(t)','P_n','P_f','oocation','Best') \ subplot(3l3) p~0t(tZIQ(t2)) hold on;grid title('Total Solution — NAME') Xlabel('time (s)');ylabel('Solution (m)') p10t<Prapid,q(Prapid),'k*',Pslow,q(Pslow),'r*',Prapid,O,'k*',Pslow,O,'r*') legend('q(t)','P r a p i d','P s l o w','Location','Best') Wig .W« X”? 5 43M) 2, m a W ' ‘1 1:) w A Mdé/‘(MQQ/A MM M !\ a}, XVI”)? fg‘j” La {.4 \JQ ’“ “Mm/pg] ‘4 2) W my A, J}, W 0 w» \FZZQ is?“ W MR A M ,% 1/. @M‘H dzL-\ \l‘mCNffi‘ kfisf u A ‘V‘ :5 £36“ “95%: e312}, WM [-7) A ;* Mp, x mm.“ , ? emit) a A CH C x w» _ w; m ‘ v \ w“ L y '- m f If: ‘MLWV; V ‘ £46 [Li/2, \ v? 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W3 {16.4. moi/5 )Zaqi'r a «2-22 (’5ch rim : “a, Ca! gm , 253W- ;2, :2 fl (2: :39 :14“ . mama”:wa .‘n‘AK-Wuywpmmmda-Wsm‘mWWWWKWW/mawnmxum‘mmmnmwm“7/; . WWW, RWXMW (3966;) is iawa filmy-é gig qgggt «23319) Lg.“ (aim; gm (2am 304243 / WWWWWWWWWWWVNEAWWMWWWMM , w WMWchmWWWMW ‘ 6 History — NAME 9d0t(t) (rad/s) ; MM Phase Curve ' 9% -15 -1O —5 0 5 1O 15 20 Solution Parts - NAME Solution — NAME q “3 N:\Personal\Classes\Fall ll\34O Grading\HW 4\N2.m Page 1 L11 *J ;%NA ”% AA; 340 Fall '11 % HW 4 Solu:ions Number 2 clear all;close all;clc; theta = inllne('l9.272*exp(—.4*t).*sin(2.973*t)'); decayP = inuine('l9.272*exp(—.4*t)'); decayM = Lnline('—l9.272*exp(-.4*t)'); thetad = Lnline('—.4*exp(—.4*t).*l9.272.*sin(2.973*t)+exp(—.4*t).*19.272*2.973.*cos(2.973( *t)'); tau 2 2.5; P = 2.113; t = 0:.OOlle; subplot(211) plot(t,theta(t),t,decayP(t),‘r') hold on; grid tLtle('\theta History — NAME') xnabel('time (s)');ylabel('\theta (deg)') plot(P,theta(P),'p') plot(tau,decayP(tau),'*r',tau,theta(tau),'b*'... ,tau,0,'k*') legend('\theta(t)','\theta_d_e_c_a_y(t)','P','\tau','Location','Best') plot(t,decayM(t),'r',tau,decayM(tau),'r*') plot(t,O,'k') text(4,-7,'\theta(t) = l9.272“o*e“—“.A4At*sin(2.973*t)H text(4,7,'\theta d e c a y(t) = 19.272Ao*eA—A.A4At') subplot(212) plot(theta(t),deg2rad(thetad(t))) title('Phase Space — NAME') hold on;grid xlabel('\theta(t) (deg)');ylabel('\theta_d_o_:(t) (rad/s)') plot(0,l,'r*',theta(tau),deg2rad(thetad(tau)),'gp') legend('Phase Curve','lC','\tau','Location',‘3est') axis([-20 20 —l.5 l.5]) figure; :h = inline('l3.l4*exp(—.4*t).*sin(2.973*t+.2556)+lO.912*sin(2*t—.3094)'); :hc = inline('l3.l4*exp(-.4*t).*sin(2.973*t+.2556)'); :hp = inline<'lO.912*sin(2*t—.3094)'); :au 1/.4; : = l:.OOl:4*tau; I! subplot(211) plot(t,thc(t),t,thp(t)) hold on;grid title('Solution Parts — NAME') xlabel('time (s)');ylabel('\theta (deg)') N:\Personal\Classes\Fall 11\34O Grading\HW 4\N2.m Page 2 plot(tau,thc(tau),'*',tau,O,'k*') legend('\theta_c(t)','\theta‘p(t)','\tau','Location','Best') plot(t,0,'k') subplot(212) plot(t,th(t),t,thp(t)) hold on;grid title('Solution — NAME') xlabel('time (s)');ylabel('\theta (deg)') plot(tau,th(tau),'*',:au,0,'k*') legend('\theta(t)','\:heta_p(t)','\tau','Location','Best') ‘ a :9“ \{M fifi' 3 (\ 429W; mm {km 59%m ,itg‘z I} {9,3 » my? mficfgé ya .4 I N -"3 ” WI}? M~W22 wt 11:“: (4:32" ‘ / - Ch :2: _ N FEE) A tr”: 3 1: V) m mm? Q2. % 3"" [k S (2/; g 3“ k V§a>£t M; a; rim mm: W23 669*” (1AM QWWWA "(f‘g’rwfi M “Rives t‘flfi“‘%§}t\ CQVMUHQNW CANE. WQME‘TF gfb’ufig‘fim f3 \ (wwwpr ‘ t W ‘ »" ‘ A , iii Mfr 'W~ Wfl/ 3* «~— “berg Hva L/ w x7440“ )‘r an! s< WK 6 .. a a C) (K! [3 fr rjmcp 3) 9 g” 2%; “4+ 3W4? :~F“*"xm:v r1 m, a; [5% T 2mm 5 Mb C} a} ‘ i ‘ “é Mr ‘ w? ~ m t: 91,5 43g, C: «7/ «A, m9 5%“ H— 63w 26 (pm? Mm WMMWW _ W _ m «(:éufigv {123%3“ RAM {E‘Q‘Iém MEWMWW ”””” ““ (a?) (@073: g; ‘1 *7 figs. W ififld } CA‘VWQFKGQKG'“ 3 A1 " J ‘34?ng (i; ‘f 6,. wzag/ “5,. z?“ a, 5:,- ““”7» (:Q I" Law " u» «“fi 0 ‘ . (:4 w {"9 3 01’s n:ng ‘E/b/m {155A}? g -~w~w~w~w-~ <2 Sfik xii ’24 3 352% i 'V, M. ,, .J,“ - _ ., “ yak-i7- . I gifggg 272.; (94%; a a» 2:2» (hiya, W7 WWW Wm M W) WmWWWWWWwWWWWWWW.M,W.W,WWWWWWW%WMWWW .1 «jg/m: - >6“ kn“ a“ : ‘Sécfiwifi Wit, 2:3 Cdg> i f (fig/my 1‘ 3f / 2 {f 'i’VZ‘ 0M “3‘ jag”; gawa‘m, 'fijwr '“Nl‘emm has) CfifLthfié PJVFJV MJ‘J\%’\L g;(w§<% {"73 aim/um 6'1" 43cm (flfifl) “a thmmmwvmwwmwww .WWWWM ¢ (deg) Position - NAME 7% i? i? i? 9K- 9% 9K 9K Bil} N:\Personal\Classes\Fall ll\340 Grading\HW 4\N3.m Page 1 L1] .LJ| %NA % AA; 340 Fall '11 % HW 4 Solutions Number 3 clear all;close all;clc; total = inline('—22.678*exp(-2.l33*t)+22.678*exp(—.617*t)'); slow = inline('22.678*exp(-.6l7*t)'); fast = innine('-22.678*exp(-2.l33*t)'); taus = 1.621; tauf .4668; t = 0:.001:3.5*taus; H plot(t,total(t),t,slow(t),t,fast(t)) grid;hold on; plot(tauf,total(tauf),'p',tauf,slow(tauf),'p',tauf,fast(tauf),'p',tauf,0,'pk') plot(taus,total(taus),'*',taus,slow(taus),'*',taus,fast(taus),'*',taus,0,'*k') tltle('Position - NAME') xlabel('time (s)');ylabel('\phi (deg)') legend('\phi','\phi_s_l_o_w','\phi_fwa_s_t',... '\phi(\tau‘f)','\phi_s(\tau_f)','\ph;_f(\tau_f)','\tau_f',... '\phi(\tau_s)','\phi_s*\tau_s)','\ph;_f(\tau_s)','\tau_s',... 'Location','Best') plot(t,O,'k') axis([O 5 —25 25]) ...
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hw4 - 4E 1?r’iOuff‘éix/jéif mea M—2 g 58W I‘AQ...

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