附件Ⅷ:常用二级阿苏尔杆组SUBLINK(XA,YA,VAX,VAY,AAX,AAY,QAB,W,E,L,XB,YB,VBX,VBY,ABX,ABY)SUBRRR(XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,LCB,QAB,WAB,EAB,QCB,WCB,ECB)SUBRRP(M,YB,L,YA,VAY,AAY,QAB,WAB,EAB)SUBRRP1(M,XB,L,XA,VAX,AAX,QAB,WAB,EAB)SUBRPR(M,XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,QBD,WBD,EBD)常用二级阿苏尔杆组子程序!6SUBS:LINK,RRR,RPR,RRP,RRP1,INTERSECTSUBLINK(XA,YA,VAX,VAY,AAX,AAY,QAB,W,E,L,XB,YB,VBX,VBY,ABX,ABY)XB=XA+L*COS(QAB)YB=YA+L*SIN(QAB)VBX=VAX-L*SIN(QAB)*WVBY=VAY+L*COS(QAB)*WABX=AAX-L*COS(QAB)*W^2-L*SIN(QAB)*EABY=AAY-L*SIN(QAB)*W^2+L*COS(QAB)*EENDSUBSUBRRR(XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,LCB,QAB,WAB,EAB,QCB,WCB,ECB)LAC=SQR((XC-XA)^2+(YC-YA)^2)COSQAC=(XC-XA)/LACSINQAC=(YC-YA)/LACQAC=ANGLE(COSQAC,SINQAC)COSQCBA=(LAB^2+LAC^2-LCB^2)/(2*LAB*LAC)SINQCBA=SQR(1-COSQCBA^2)QCBA=ANGLE(COSQCBA,SINQCBA)QAB=QAC-QCBAXB=XA+LAB*COS(QAB)YB=YA+LAB*SIN(QAB)COSQCB=(XB-XC)/LCBSINQCB=(YB-YC)/LCBQCB=ANGLE(COSQCB,SINQCB)WAB=((VAX-VCX)*COSQCB+(VAY-VCY)*SINQCB)/LAB/SIN(QAB-QCB)WCB=((VAX-VCX)*COS(QAB)+(VAY-VCY)*SIN(QAB))/LCB/SIN(QAB-QCB)G=AAX-ACX-LAB*COS(QAB)*WAB^2+LCB*COSQCB*WCB^2F=AAY-ACY-LAB*SIN(QAB)*WAB^2+LCB*SINQCB*WCB^2EAB=(G*COSQCB+F*SINQCB)/LAB/SIN(QAB-QCB)ECB=(G*COS(QAB)+F*SIN(QAB))/LCB/SIN(QAB-QCB)ENDSUBSUBRPR(M,XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,QBD,W,E)LAC=SQR((XC-XA)^2+(YC-YA)^2)COSQAC=(XC-XA)/LACSINQAC=(YC-YA)/LACQAC=ANGLE(COSQAC,SINQAC)LBC=SQR(LAC^2-LAB^2)QACB=ATN(LAB/LBC)QBD=QAC+M*QACBDELTA=-(YC-YA)*SIN(QBD)-(XC-XA)*COS(QBD)DELTAW=(VCX-VAX)*SIN(QBD)-(VCY-VAY)*COS(QBD)DELTAV=-(YC-YA)*(VCY-VAY)-(XC-XA)*(VCX-VAX)W=DELTAW/DELTAVLBC=DELTAV/DELTAT1=(ACX-AAX)+(VCY-VAY)*W+SIN(QBD)*W*VLBCT2=(ACY-AAY)-(VCX-VAX)*W-COS(QBD)*W*VLBCDELTAE=T1*SIN(QBD)-T2*COS(QBD)E=DELTAE/DELTAENDSUBSUBRRP(M,YB,LAB,YA,VAY,AAY,QAB,W,E)!THEGUIDEWAYISHORIZONTAL!BISTHEREVOLUTEBETWEENCOUPLERANDSLIDINGBLOCK!IFXB>XATHENM=+1,OTHERWISE,M=-1SINQAB=(YB-YA)/LABCOSQAB=M*SQR(1-SINQAB^2)QAB=ANGLE(COSQAB,SINQAB)W=-VAY/(LAB*COSQAB)E=(-AAY*COSQAB-VAY*SINQAB*W)/(LAB*COSQAB^2)ENDSUBSUBRRP1(M,XB,LAB,XA,VAX,AAX,QAB,W,E)!THEGUIDEWAYISVERTICAL!BISTHEREVOLUTEBETWEENCOUPLERANDSLIDINGBLOCK!IFYB>YATHENM=+1,OTHERWISE,M=-1COSQAB=(XB-XA)/LABSINQAB=M*SQR(1-COSQAB^2)QAB=ANGLE(COSQAB,SINQAB)W=VAX/(LAB*SINQAB)E=(AAX*SINQAB-VAX*COSQAB*W)/(LAB*SINQAB^2)ENDSUBSUBINTERSECT(X1,Y1,Q1,X2,Y2,Q2,X,Y)X=(X1*TAN(Q1)-X2*TAN(Q2)-Y1+Y2)/(TAN(Q1)-TAN(Q2))Y=(X-X1)*TAN(Q1)+Y1ENDSUB
