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4 3 Ekstremumi Funkcija Vise Promenljivih
4 3 Ekstremumi Funkcija Vise Promenljivih
Rad:
N 1 2 3 4 5 6 7 8 9 10
S[mm] 0 3 6 9 12 12 9 6 3 0
l3=20mm
l4=10mm
Δx=10mm
z4+z1=z2+z3
π
l4𝑒 𝑖𝜃4 +Δx=𝑆2−𝑖2 +𝑙3𝑖𝜃3
l4𝑒 𝑖𝜃4 +Δx=-iS+l3𝑒 𝑖𝜃3
l4cosθ4+Δx-l3cosθ3=0
l4sinθ4-l3sinθ3+δ=0
l3sinθ3δθ3-l4sinθ4δθ4=0
δS-l3cosθ3δθ3+l4cosδθ4=0
𝑙3𝑠𝑖𝑛𝜃3 −𝑙4𝑠𝑖𝑛𝜃4
J=[ ]
−𝑙3𝑐𝑜𝑠𝜃3 𝑙4𝑐𝑜𝑠𝜃4
−𝑥1 −𝑙4𝑠𝑖𝑛𝜃4
[ ]
−𝑦1 −𝑙4𝑐𝑜𝑠𝜃4
𝛿𝜃3 =
𝑙3𝑠𝑖𝑛𝜃3 −𝑙4𝑠𝑖𝑛𝜃4
[ ]
−𝑙3𝑐𝑜𝑠𝜃3 𝑙4𝑐𝑜𝑠𝜃4
𝑙3𝑠𝑖𝑛𝜃3 −𝑥1
[ ]
−𝑙3𝑐𝑜𝑠𝜃3 −𝑦1
𝛿𝜃4 = 𝑙3𝑠𝑖𝑛𝜃3 −𝑙4𝑠𝑖𝑛𝜃4
[ ]
−𝑙3𝑐𝑜𝑠𝜃3 𝑙4𝑐𝑜𝑠𝜃4
δθ3=0.97
δθ4=-3.06
θ3=100+δθ3
θ4=245+δθ4
Algoritam:
>> S5=12
S=
12
>> teta3=100
teta3 =
100
>> teta4=245
teta4 =
245
>> l3=20
l3 =
20
>> l4=10
l4 =
10
>> deltax=10
deltax =
10
>> x1=10*cosd(240)+10-20*cosd(100)
x1 =
8.4730
>> y1=10*sind(240)-20*sind(100)+12
y1 =
-16.3564
>> A=[l3*sind(teta3) -l4*sind(teta4)
-l3*cosd(teta3) l4*cosd(teta4)]
A=
19.6962 9.0631
3.4730 -4.2262
D=
-8.4730 9.0631
16.3564 -4.2262
E=
19.6962 -8.4730
3.4730 16.3564
>> deltateta3=D/A
deltateta3 =
-0.0378 -2.2255
0.4746 2.0179
>> deltateta4=E/A
deltateta4 =
0.4691 3.0109
0.6231 -2.5339
>> B=[0.97
-3.06]
B=
0.9700
-3.0600
>> C=A*B
C=
-8.6277
16.3009
>> s1=0
s1 =
>> y1=10*sind(240)-20*sind(100)+s1
y1 =
-28.3564
>> s2=3
s2 =
>> y1=10*sind(240)-20*sind(100)+s2
y1 =
-25.3564
>> s3=6
s3 =
>> y1=10*sind(240)-20*sind(100)+s3
y1 =
-22.3564
>> s4=9
s4 =
9
>> y1=10*sind(240)-20*sind(100)+s4
y1 =
-19.3564
>> s7=9
s7 =
>> y1=10*sind(240)-20*sind(100)+s7
y1 =
-19.3564
>> s8=6
s8 =
>> y1=10*sind(240)-20*sind(100)+s8
y1 =
-22.3564
>> s9=3
s9 =
>> y1=10*sind(240)-20*sind(100)+s9
y1 =
-25.3564
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