Instruction manual

APPENDICES
APP − 3
(c) Both-side stationary asymmetrical curve
1 )Trapecloid curve
1
Ta =
8
2 − 6Ta +πTa
Tb =
2+π
2 − 2Ta +3πTa
Tc =
2+π
1
Am =
344 2 1 24
(
−
2
+
π
+
π
2
) T
2
a + (1 +
π
) TaTb +
2
T
2
b + (
π
−
π
2
) (1
−
Tc)
2
Section I (0≤T≤Ta)
πT
A = Amsin
2Ta
+
C0
Section II (Ta<T≤Tb)
A=Am+C0
Section III (Tb<T≤Tc)
π(T−T6)
A = Amcos
2Ta
+
C0
Section IV (Tc<T≤1)
π(T−Tc)
A = −Amcos
2(1−Tc)
+
C0
2) Reverse trapecloid curve
1
Ta =
8
2 − 6Ta +πTa
Tb =
2+π
2 − 2Ta +3πTa
Tc =
2+π
1
Am =
344 2 1 24
(
−
2
+
π
+
π
2
) T
2
a + (1 +
π
) TaTb +
2
T
2
b + (
π
−
π
2
) (1
−
Tc)
2
2TaAm
Va =
π
Vb=Am(Tb−Ta)+Va
2T
2
aAm 4T
2
aAm
Sa =
π
−
π
2
Am
Sb =
2
(Tb − Ta)
2
+ Va (Tb − Ta) + Sa
8T
2
aAm
Sc =
π
2
+ 2VbTa + Sb
Section I (0≤T≤1−Tc)
π(1−Tc − T)
A = Amcos
2 (1 − Tc)
+
C0