с ПР-ОГРАМНА ACOft С

EXTERNAL PRA1,OUT1,FRA2,OUT2 REAL K,KI,KT1,K1I INTEGER R.RR

DlhENSION FI(6,U),PSI(2,2)

niflENSION KI(36),KTI<36),K(u,<4),yALVA<130),VALVB(6e)

DIMENSION AUX<288),PI(15),ARG(5),TIMEC5e)

DIMENSION PI1(6) ,DX(6) ,X(6) ,РР(5в,й) ,AUXI(A8) ,yALyDT(5,12)

DIMENSION D(2.6),yALVDC12,5),yAUJ(6e),ARGl(5)

COMMON ARG,VALVA,yALVB,X,DX

COMMON /Z1/N,R,FI,PSI,N1,PI

COMMON /Z2/H,L1,HZ,NZ,LK

COMMON /Z4/ARGl.yALyD,M,yALD

COMMON /Z5/F-R,TIME.L,H2,tr,LZ

u--=i

in=e

M-1 Ll=e

DU 1 1=1,6 DO 1 J=l,6 FKI, J)=0.0 DO 2 1=1,2 IO 2 J=l,2

2 P3I(I,J)=e.e

ВВОД ИСХОДНЫХ ДАННЫХ

CALL INPUT<N,R,KI,KTI,FI,PSI,PI,PI1,HZ,HF,NZ,LZ) N1=N»N

HZ=PIC2)/NZ DO 3 1=2,N1

3 3=S+Kri<I) KTICl)=l.e-3 H2=0.e

U ИН1ГГРИР0ВАНИЕ УРАВНЕНИЙ РИККАТИ

CALL RKGS С PI, KI ,КГ1 ,N1, IH,PRA1, OUTl, AUX)

CALL MTRA(VALyD,VALVDT,12,5,0)

CALL ARFY.2,6e,l,5,12,VALD,>ALVDT) с ИНТЕГРИРОВАНИЕ УРАН-ЕНИЙ ДВИЖЕНИЯ

CALL RKGSCPI1.X,DX,H,IH,PRA2,0UT2,AUXI)

CALL PLOTCPR,TIME,50,6)

PRINT 5

PRINI 6

PRINT 7. (TIMECI), FRa,JlJJ,Ш d5XЛl> .

5 FORMAT(/10X,nAFAMETFtl ОПТИМАЛЬНОЙ ТРАЕКТОРШ)

6 F0FMAT(/6X,TIME,9X,XCD,10X,X(2),10X,Х(З),10X,X(4) »ieX,X(5),10X,XC6))

7 F0RMATaX,7E14.5) STOF

E©

SUBlTItt INF-UT(N,R,KI,KTI,FI,PSI,PI,PI1,HZ,HP.NZ,LZ) INTEGER R REAL KI.KTI

COMMOfl ARC,VALVA,VALVB,X,DX

DIMENSION AF;O(5),VALVAC180),VALVB(60),PIU6),DX(6),X(6)

DIMENSION FI(6,6) ,P3IC2,2) ,KI.36) ,KTI(36) ,FIC15)

READ 1,N,R,NZ,LZ,HP

F£AD 2,CKTICI),I=1,36)

F£AD 2,<KI(I),I=1,36)

READ 2, СРИ1),1=1,15)

READ 2,(FKI,I),1=1,N)

READ 3,CP3I(J,J),J=1,R) )

READ 4,fiiG

F£AD 4, V ALU A

RLAD 4,UALUB

READ 2, (FIl(I),1=1,6)

READ 2,(DX(I),I=1,6)

READ 2,(X(I) Л=1,6) 1 FORMAT (413,F5.2) : FORMAT (6E12.4)

3 FORMAT (2E12.4)

4 FORMiVr (5E12.4)

RETURN END

SUBROUTINE FRA1(T,KI,KTI) REAL K,KI,KTI,KA,KT1,KT,KIIB,KD

DIMENSION K(6,6) ,KT(6,6) ,A(6,6) ,KA(6,6) .PI(15) ,FSI(2,2) DIMENSION KI(36) ,KTI(36) ,DB(6,6) ,KDB(6,6) ,B(6,2) ,KD(6,6),

* Ri:46,6),FI(6,6),P(6,6),KTl(6,6),ARG(5),yAL(5),

* УАЕУВ(6в),А1(36),В1(12),

» Rl(2) ,R2(2) ,BP(6,2) ,BT(2,6) ,УАЕУА(18в)

COMMON ARG,VALyA,yALUB COMMON /Zl/N,R,ri,PSI,Nl,PI COMMON /Z3/BT,K,X,A,B X=PI(2)-T

ОПРЕДЕЛЕНИЕ З.ЛЕМЕНТ0В МАТТИЦЫ A В ДАННЫЙ МОМЕНТ ВР-ЕМЕНИ DO 2 1=1,36 DO 1 J=l,5 Jl=5«I+J-5

1 UAL(J)=UALVA(J1)

CALL ALI(X,ARG,yAL,Y,5,e.eei,IEro

2 A1(I)=Y

CALL ARRAY (1,N,N,N,N,A1,A) ОПРЕДЕЛЕНИЕ ЭЛЕМЕНТОВ МАТРИЩ.! В В ДАННЫЙ МОМЕНТ ВРЕМЕЖ DO 4 1=1,12 DO 3 J=l,5 Jl=5lЦJ-5

3 yAL(J)=yALyB(Jl)

CALL ALI(X,ARG,yAL,Y,5,e.eei,IER)

4 B1(I)=Y

CALL ARRAY(1,N,R,N,R,B1,B) CALL MINy(PSI,R,Dl,Rl,R2) CALL GM1=KD(B,PSI,BP,N,R,R) C.iLL GMTFiA .B,BT,N,R) CALL OMFRD(BP,BT,DB,N,R,N) CALL ARRAY(1,N1,1,N,N,KI,K) CALL GMlT<D(l4,A,KA,N,N,N) CALL TPRIi(A,K,P,N,N,e,e,N) CALL QMfT4D(K.DB,KDB,N,N,N) CALL GMPKD(KDB,K,KD,N,N,N) CALL GMADD(KA,P,R1-,N,N) CUi- GMSUB(RF-,KD,KT1,N,N) CALL GMADD(KT1,FI,KT,N,N) CALL ARr<AY(2,Nl,l,N,N,KTI,KT) RETURN END

SUBROJTINE 0UT1(T,KI,KTI,IH,N1,PI) REAL К,1ч1,1чТ1 INTEGER R

DIMENSION KI(36),KTI(36),PI(15),A(6,6),B(6,2),FI(6,6),

* PSI(2,2),PSBT(2,6),BT(2,6),l4(6,6),B(2,6),yALyD(12,5), » DV(12),yALD(6e),AF:Gl(5)

COMMON /Z1/N,R,FI,PSI COMMON /22/H,Ll,HZ,N2,LK COMMON /Z3/BT,K,X,A,B COMMON /Z4/ARGl,VALVD,M,yALD IF(T--H) 5,1,1 1 LlLHl

IFSLl-lNZfl)) 3,3,2

2 F-l(5)=3. GO TO 5

3 CALL №RAY(1!«,N,N,H,K1,K) CdJ. GMPRniPSI,BT,PSBT,R,R,N) CALL GMPRD(FSBT,K,D,R,N,N) CALL ARRAY(2,12,l,2,6,rW,D) DO 4 1=1,12 VALD(M)=DW(1)

M=№H

4 CONTINUE

CALL ARRAY(l,(ie,l,12,5,VALD,VALVD)

ARG1(LK)=X

LK=LK+1

H=H+HZ

5 RETURN END

SUBROUTINE PRA2(T,X,DX)

DIMENSION X(6),DX(6),AV(6,6),PIl(6),AUXI(48),A(6,u),VALD(6d)

DIMENSION B(6,2) ,D(2,6) ,DBK(6,4),УАЕУА(18в) ,УАЕУВ(6в) ,ARG(5)

DIMENSION A1(3U),B1(12) ,УАЕ(5) ,D1C12) ,ARG1(5) ,yALVD(12,5)

COMMON ARG,VALVA,yALyB

DO 2 1=1,36

DO 1 J=l,5

Jl=5»I+J-5

1 yAL(J)=yALVA(Jl)

CALL ALI(T,ARG,yAL,Y,5,e.eei,IER)

2 A1(I)=Y

CALL ARRAY(1,36,1,6,6,A1,A) DO 4 1=1,12 DO 3 J=l,5 Jl=5»I+J-5

3 yAL(J)=yALVB(Jl)

CALL ALI(T,(«G,VAL,Y,5,e.eei,IER)

4 B1(I)=Y

сш- ARRAY(1,12,1,6,2,B1,B)

DO 9 1=1,12

DO 8 J=l,5

Jl=5«I+J-5 3 yAL(J)=VAU)(Jl)

CALL Aa(T,ARGl,VAL,Y,5,e.eei,IER) 9 D1(I)=Y

CALL <*RAY(1,12,1,2,6,D1,D)

DO 19 1=1,2

DO 1» J=l,6 le D<I,J)=-D(I,J)

CALL GMPRD(B,D,DBK,6,2,6)

CALL GMADD(A,DBK,AU,6,6)

CALL GMFRD(AV,X,DX,6,6,1)

RETURN

SUBROUTINE 0UT2(T,X,DX,IH,N,PI1)

DIMENSION X(6),DX(6),PIl(6),PR(5e,6),AUXI(48),TIME(Se)

COMMON /Z5/PR,TIME,L,H2,HF,LZ

IF(T-H2) 5,1,1 1 L=L+1

IF(L-(LZ+1)) 3,2,2 Z PIl(5)=3.e

GOTO 5

3 TIME(L)=T DO 4 1=1,6

4 PR(L,I)=X(1) H2=H2+HP

5 RETURN END

SUBROUTINE PLOT(A,0«,H,M)