www.pudn.com > SHIPCONTROL.rar > jieshipequation.m, change:2013-09-17,size:520b


syms t; 
z=dsolve('Dx=u*cos(f)-v*sin(f)','Dy=u*sin(f)+v*cos(f)','Df=r','Du=0','Dv=-a*u*r-b*v','Dr=-r/T+K/T*q','x(0)=0',... 
    'y(0)=0','f(0)=0','u(0)=u0','v(0)=0','r(0)=0','t','IgnoreAnalyticConstraints','none')  %-a*u*r-b*v 
 
 
 
 
% z=dsolve('Dx=u*(1-f^2/2+f^4/24)-v*(f-f^3/6+f^5/120)','Dy=u*(f-f^3/6+f^5/120)+v*(1-f^2/2+f^4/24)','Df=r','Du=0','Dv=-a*u*r-b*v','Dr=-r/T+K/T*q','x(0)=0',... 
%     'y(0)=0','f(0)=0','u(0)=u0','v(0)=0','r(0)=0','t','IgnoreAnalyticConstraints','none') 
 
x1=diff(z.y,t) 
y1=diff(z.x,t)