www.pudn.com > SHIPCONTROL.rar > mainopticontrol20121005foralex.m, change:2012-10-06,size:14458b

```%增广状态罚函数法实现船舶避碰最短路径控制程序
%2012.10.1 xiong yong 熊勇 qq:76289035
%bear_brave@163.com
function mainopticontrol20121005foralex
clear all
clc
diedai=5;
buchang=1;
timechang=100;
deltaini=zeros(1,timechang);
chujiao=0.2;
y0=[0; 0; chujiao; 0; 9.2; 0; 0; 0; 0];
vlami=5;
xjiyi=zeros(timechang,9);
xjiyi2=zeros(timechang,9);
mp=zeros(6,1);
mp(2)=5;
mp(3)=1500;
mp(4)=4;
mp(5)=1500;
mp(6)=600;
af=7;
mu=0.05;
ddp=pi/6;
mjo=zeros(1,diedai);
kx=zeros(1,timechang);
ky=zeros(1,timechang);
deltaini=zeros(1,timechang);
deltaini(1,:)=0.3;
for i=1:diedai
jisuanzhibiao=i
for j=1:2:timechang

mp(1)=deltaini(j);

tspan=[(j-1)*buchang, j*buchang, (j+1)*buchang];
[t,yy]=ode45(@xitongf,tspan,y0,[],mp);
y0=yy(end,:);
xjiyi(j:j+1,:)=yy(2:3,:)
end

y02=zeros(1,9);
y02(1)=(-1)*vlami*xjiyi(end,2)*xjiyi(end,1)^(-2)
y02(2)=vlami*xjiyi(end,1)^(-1)

for j2=timechang:-2:1
mp(1)=deltaini(j2);
tspan2=[(j2+1)*buchang,j2*buchang,(j2-1)*buchang];
[t,yy]=ode45(@xietong,tspan2,y02,[],mp, xjiyi(j2,:))
y02=yy(end,:);
xjiyi2(j2+1,:)=yy(1,:);
xjiyi2(j2,:)=yy(2,:);
end

for j3=1:timechang
mp(1)=deltaini(j3);
phamilton(j3*buchang,xjiyi(j3,:),xjiyi2(j3,:),mp)
deltaini(j3)=deltaini(j3)-af*phamilton(j3*buchang,xjiyi(j3,:),xjiyi2(j3,:),mp);

if deltaini(j3)<=-ddp
deltaini(j3)=-ddp;
elseif deltaini(j3)>=ddp
deltaini(j3)=ddp;
end

end

jo=0;
for j4=1:timechang

jo=jo+sqrt(xjiyi(j4,1)^2+xjiyi(j4,2).^2)*buchang;
end

mjo(i)=jo;

if (i-1)>0&abs(mjo(i-1)-mjo(i))/abs(mjo(i))<=mu;
break
end

end

for j4=1:timechang

kx(j4)=mp(2)*j4*buchang+mp(3);
ky(j4)=mp(4)*j4*buchang+mp(5);

end

plot(xjiyi(:,1),xjiyi(:,2))
hold on
plot(kx,ky)
figure

plot(mjo)

figure

plot(deltaini)

function  dy=xitongf(t,y,mp)

dy=zeros(9,1);
x0=y(1);
y0=y(2);
bosai=y(3);
FAI=y(4);
u=y(5);
v=y(6);
r=y(7);
p=y(8);

delta=mp(1);
a1=mp(2);
a01=mp(3);
b1=mp(4);
b01=mp(5);
r1=mp(6);

m=55000*10^3;
L=280;
D=9.45;
B=35.5;
midu=1000;
CB=0.597;
ZG=14;
H=2.9;
T=0.058*D;
Dp=4.3;
np=3;
tp=0.08;
b1=6.5;
b2=4.6;
P=3.7;
hR=7.2;
epxlong=0.92;
hs=6.9;

V=sqrt(u^2+v^2);
RP=r*L/V;
Beita=atan(-v/u);

% 各纬度惯性矩及附加质量的计算
IZ=m*(1+CB^4.5)+(L^2+B^2.4)/24;
m11=m*(1/100)*(0.398+11.98*CB*(1+3.73*(D/B))-(2.89*CB*(L/B))*(1+1.13*(D/B))+0.175*CB*(L/B)^2*(1+0.541*(D/B))-1.107*(L/B)*(D/B));
m22=m*(0.882-0.54*CB*(1-1.6*(D/B))-0.156*(1-0.673*CB)*(L/B)+0.826*(D/B)*(L/B)*(1-0.678*(D/B))-0.638*(L/B)*(D/B)*(1-0.669*(D/B)));
m66=m*(L*0.01*(33-76.85*CB*(1-0.784*CB)+3.43*(L/B)*(1-0.63*CB)))^2;
%m26=0.5*pi*MIDU*(L*D)^2*(0.67*(B/L)-0.0033*(B/D)^2);

%纵向水动力的计算
Xu=59.12*u^4-462.8*u^3+8775*u^2+28940*u+67640;
XVR=(1.6757*CB-0.5054-1)*m22;
XH=XVR*v*r-Xu;

%横向水动力的计算
K=2*D/L;TP=T/D;
Yv=-0.5*midu*L*D*V*(pi*K/2+1.4*CB*(B/L))*(1+0.67*TP);
Yr=0.5*midu*L^2*D*V*(pi*K/4)*(1+0.8*TP);
Yvv=0.5*midu*L*D*(0.048265-6.293*(1-CB)*(D/B));
Yvr=0.5*midu*L^2*D*(-0.3791+1.28*(1-CB)*(D/B));
Yrr=0.5*midu*L^3*D*(0.0045-0.445*(1-CB)*(D/B));
YH=Yv*v+Yr*r+Yvv*v*abs(v)+Yvr*r*abs(v)+Yrr*r*abs(r);

%首摇力矩的计算
Lv=K/(0.5*pi*K+1.4*CB*(B/L));
Nv=-0.5*midu*L^2*D*V*K*(1-0.27*TP/Lv);
Nr=-0.5*midu*L^3*D*V*(0.54*K-K^2)*(1+0.3*TP);
Nvvr=0.5*midu*L^3*D*(-6.0856+137.4735*CB*(B/L)-1029.514*(CB*(B/L))^2+2480.6082*(CB*(B/L))^3);
Nvrr=0.5*midu*L^4*D*(-0.0635+0.044145*CB*(D/B));
Nrr=0.5*midu*L^4*D*(-0.0805+8.6092*(CB*(B/L))^2-36.9816*(CB*(B/L))^3);
Nvfai=0.5*midu*L^2*D*V*(-1.72*K);
Nrfai=0.5*midu*L^3*D*V*(2.6*(0.54*K-K^2));
Nfai=0.5*midu*L^2*D*V^2*(-0.008);

NH=Nv*v+Nr*r+Nvvr*v^2*r+Nrr*r*abs(r)+Nvrr*v*r^2+Nfai*FAI+Nvfai*v*abs(FAI)+Nrfai*r*abs(FAI);

%横倾力矩的计算

Np=0.12*sqrt((m*(B^2+4*ZG^2)/(12))*H*m*9.8);
GZFAI=H*sin(FAI);
ZH=ZG-(4-B/D+0.02*(B/D-5.35)^3)*D;

KH=-Np*p-m*9.8*GZFAI-YH*ZH;

%螺旋桨纵向推进力计算
wp0=0.5*CB-0.05;

Beitap=Beita-0.5*RP;
wp=wp0*exp(-4*Beitap^2);
Jp=u*(1-wp)/(Dp*np);
Kt=0.25035*Jp^3-0.58638*Jp^2-0.067363*Jp+0.42379;

XP=(1-tp)*midu*np^2*Dp^4*Kt;

%舵力的计算
S=1-u*(1-wp)/np*P;
lamuda=2*hR/(b1+b2);
fa=6.13*lamuda/(2.25+lamuda);
sita=Dp/hR;
gs=sita*(0.6/epxlong)*S*(2-(2-(0.6/epxlong))*S)/(1-S)^2;

c1=1;

uR=u*(1-wp)*sqrt(1+c1*gs);
vR=(1.163314-1.982836*CB+1.390152*CB^2)*(v-L*r);
UR=sqrt(uR^2+vR^2);
S0=1-u*(1-wp0)/np*P;
delta0=-(2*S0+0.6);
alfaR=delta-delta0-atan(vR/uR);

tR=1-(0.7382-0.0539*CB+0.1755*CB^2);
aH=0.6784-1.3374*CB+1.8891*CB^2;
xR=-0.5*L;
xH=-(0.4+0.1*CB)*L;
zR=ZG-D+hs;

FN=0.5*midu*0.5*(b1+b2)*hR*fa*UR^2*sin(alfaR);

XR=-(1-tR)*FN*sin(delta);
YR=(1+aH)*FN*cos(delta);
NR=(xR+aH*xH)*FN*cos(delta);
KR=(1+aH)*zR*FN*cos(delta);

if ((y(1)-a1*t-a01)^2+(y(2)-b1*t-b01)^2-r1^2)^2>=0
h1=0;
else
h1=2000;
end

dy(1)=y(5)*cos(y(3))-y(6)*cos(y(4))*sin(y(3));
dy(2)=y(5)*sin(y(3))-y(6)*cos(y(4))*cos(y(3));
dy(3)=y(7)*cos(y(4));
dy(4)=y(8);
dy(5)=(XH+XP+XR+(m+m22)*y(6)*y(7))/(m+m11);
dy(6)=(YH+YR-(m+m11)*y(5)*y(7))/(m+m22);
dy(7)=(NH+NR)/(IZ+m66);
dy(8)=(KH+KR)/(m*(B^2+4*ZG^2)/12);
dy(9)=((y(1)-a1*t-a01)^2+(y(2)-b1*t-b01)^2-r1^2)^2*h1;

function  dlami=xietong(t,y,mp,zhichuan)

% dlami=zeros(9,1);
x0=zhichuan(1);
y0=zhichuan(2);
bosai=zhichuan(3);
FAI=zhichuan(4);
u=zhichuan(5);
v=zhichuan(6);
r=zhichuan(7);
p=zhichuan(8);
x9=zhichuan(9);

delta=mp(1);
a1=mp(2);
a01=mp(3);
b1=mp(4);
b01=mp(5);
r1=mp(6);

lami1=y(1);
lami2=y(2);
lami3=y(3);
lami4=y(4);
lami5=y(5);
lami6=y(6);
lami7=y(7);
lami8=y(8);
lami9=y(9)

if ((x0-a1*t-a01)^2+(y0-b1*t-b01)^2-r1^2)^2>=0
h1=0;
else
h1=2000;
end
syms H x0 y0 bosai FAI u v r p delta lami1 lami2 lami3 lami4 lami5 lami6 lami7 lami8 lami9 a1 a01 b1 b01 r1 t h1;
H=(x0^2+y0^2)^(1/2)+lami1*(u*cos(bosai)-1.*v*cos(FAI)*sin(bosai))+lami2*(u*sin(bosai)-1.*v*cos(FAI)*cos(bosai))+lami3*r*cos(FAI)+lami4*p+lami5*(1.*v*r-.1e-5*u^4+.8e-5*u^3-.2e-3*u^2-.5e-3*u+.2e-1+.6e-5*u^3*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^3-.2e-3*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2-.3e-3*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))+.1e-7*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*sin(delta))+lami6*(-.4e-2*(u^2+v^2)^(1/2)*v+.3*(u^2+v^2)^(1/2)*r-.1e-1*v*abs(v)-1.*r*abs(v)-.6e2*r*abs(r)-.2e-7*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta)-.8*u*r)+lami7*(-.8e-4*(u^2+v^2)^(1/2)*v-.1e-1*(u^2+v^2)^(1/2)*r-.2*v^2*r-5.*r*abs(r)-6.*v*r^2+.4e-11*(-.3e7*u^2-.3e7*v^2)*FAI-.2e-3*(u^2+v^2)^(1/2)*v*abs(FAI)+.3e-1*(u^2+v^2)^(1/2)*r*abs(FAI)+.8e-9*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta))+lami8*(-.5e-1*p-.2*sin(FAI)+.4e-3*(u^2+v^2)^(1/2)*v-.3e-1*(u^2+v^2)^(1/2)*r+.1e-2*v*abs(v)+.1*r*abs(v)+6.*r*abs(r)-.2e-8*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta))+lami9*((x0-a1*t-a01)^2+(y0-b1*t-b01)^2-r1^2)^2*h1;
% dlami=sym(dlami);
eval(['dlami(1,1)=',char(-diff(H,x0)),';'])
eval(['dlami(2,1)=',char(-diff(H,y0)),';'])
eval(['dlami(3,1)=',char(-diff(H,bosai)),';'])
eval(['dlami(4,1)=',char(-diff(H,FAI)),';'])
eval(['dlami(5,1)=',char(-diff(H,u)),';'])
eval(['dlami(6,1)=',char(-diff(H,v)),';'])
eval(['dlami(7,1)=',char(-diff(H,r)),';'])
eval(['dlami(8,1)=',char(-diff(H,p)),';'])
% eval(['dlami(9)=','0;'])
dlami(9,1)=0;

% dlami(2)=double(-diff(H,y0))
% dlami(3)=double(-diff(H,bosai));
% dlami(4)=double(-diff(H,FAI));
% dlami(5)=double(-diff(H,u));
% dlami(6)=double(-diff(H,v));
% dlami(7)=double(-diff(H,r));
% dlami(8)=double(-diff(H,p));
% dlami(9)=0;

% dlami(1)=double(dlami(1));
% dlami(2)=double(dlami(2));
% dlami(3)=double(dlami(3));
% dlami(4)=double(dlami(4));
% dlami(5)=double(dlami(5));
% dlami(6)=double(dlami(6));
% dlami(7)=double(dlami(7));
% dlami(8)=double(dlami(8));
% dlami(9)=double(dlami(9));

function y=phamilton(t,chuan1,chuan2,mp)
x0=chuan1(1);
y0=chuan1(2);
bosai=chuan1(3);
FAI=chuan1(4);
u=chuan1(5);
v=chuan1(6);
r=chuan1(7);
p=chuan1(8);
delta=mp(1);
a1=mp(2);
a01=mp(3);
b1=mp(4);
b01=mp(5);
r1=mp(6);
lami1=chuan2(1);
lami2=chuan2(2);
lami3=chuan2(3);
lami4=chuan2(4);
lami5=chuan2(5);
lami6=chuan2(6);
lami7=chuan2(7);
lami8=chuan2(8);
lami9=chuan2(9);

if ((x0-a1*t-a01)^2+(y0-b1*t-b01)^2-r1^2)^2>=0
h1=0;
else
h1=2000;
end
H=(x0^2+y0^2)^(1/2)+lami1*(u*cos(bosai)-1.*v*cos(FAI)*sin(bosai))+lami2*(u*sin(bosai)-1.*v*cos(FAI)*cos(bosai))+lami3*r*cos(FAI)+lami4*p+lami5*(1.*v*r-.1e-5*u^4+.8e-5*u^3-.2e-3*u^2-.5e-3*u+.2e-1+.6e-5*u^3*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^3-.2e-3*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2-.3e-3*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))+.1e-7*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*sin(delta))+lami6*(-.4e-2*(u^2+v^2)^(1/2)*v+.3*(u^2+v^2)^(1/2)*r-.1e-1*v*abs(v)-1.*r*abs(v)-.6e2*r*abs(r)-.2e-7*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta)-.8*u*r)+lami7*(-.8e-4*(u^2+v^2)^(1/2)*v-.1e-1*(u^2+v^2)^(1/2)*r-.2*v^2*r-5.*r*abs(r)-6.*v*r^2+.4e-11*(-.3e7*u^2-.3e7*v^2)*FAI-.2e-3*(u^2+v^2)^(1/2)*v*abs(FAI)+.3e-1*(u^2+v^2)^(1/2)*r*abs(FAI)+.8e-9*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta))+lami8*(-.5e-1*p-.2*sin(FAI)+.4e-3*(u^2+v^2)^(1/2)*v-.3e-1*(u^2+v^2)^(1/2)*r+.1e-2*v*abs(v)+.1*r*abs(v)+6.*r*abs(r)-.2e-8*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta))+lami9*((x0-a1*t-a01)^2+(y0-b1*t-b01)^2-r1^2)^2*h1;
H=sym(H);
y=double(diff(H,delta));

```