1、梯形速度曲线
A=0.5,V=2
if(time-2:0,0,if(time-6:0.5,0.5,if(time-14:0,0,if(time-18:-0.5,-0.5,0))))
A=181.891d,V=2
if(time-2:0,0,if(time-6:-181.891d,-181.891d,if(time-14:0,0,if(time-18:181 .891d,181.891d,0))))
A=181.891d,V=2
if(time-2:0,0,if(time-6:-181.891d,-181.891d,if(time-14:0,0,if(time-18:181 .891d,181.891d,0))))
2、简化5段S型速度曲线
A=0.5,V=1
if(time-2:0,0,if(time-4:-0.25*time+0.5,0.5,if(time-6:-1.5+0.25*time,0,if(ti me-14:0,0,if(time-16:-3.5+0.25*time,-0.5,if(time-18:-0.25*time+4.5,0,0)) ))))
A=0.5=181.891d,V=1
if(time-2:0,0,if(time-4:-181.891d/2*time+181.891d,-181.891d,if(time-6:-3*181.891d+181.891d/2*time,0,if(time-14:0,0,if(time-16:-7*181.891d+1 81.891d/2*time,-181.891d,if(time-18:-181.891d/2*time+9*181.891d,0, 0))))))
A=1,V=2
if(time-2:0,0,if(time-4:-0.5*time+1,1,if(time-6:-3+0.5*time,0,if(time-14:0 ,0,if(time-16:-7+0.5*time,-0.5,if(time-18:-0.5*time+9,0,0))))))
w=181.891,V=1
if(time-2:0,0,if(time-4:-181.891d/2*time+181.891d,-181.891d,if(time-6:-3*181.891d+181.891d/2*time,0,if(time-14:0,0,if(time-16:-7*181.891d+1 81.891d/2*time,-181.891d,if(time-18:-181.891d/2*time+9*181.891d,0, 0))))))
w=2*181.891,V=2
if(time-2:0,0,if(time-4:-181.891d*time+2*181.891d,2*181.891d,if(time-6:-6*181.891d+181.891d*time,0,if(time-14:0,0,if(time-16:-14*181.891d +181.891d*time,-2*181.891d,if(time-18:-181.891d*time+18*181.891d,0 ,0))))))
4、标准7段S型速度曲线
A=0.5,V=1.5
if(time-2:0,0,if(time-3:-0.5*time+1,-0.5,if(time-5:-0.5,-0.5,if(time-6:0.5*ti me-3,0,if(time-14:0,0,if(time-15:0.5*time-7,0.5,if(time-17:0.5,0.5,if(time -18:-0.5*time+9,0,0))))))))
A=2/3,V=2
if(time-2:0,0,if(time-3:-2/3*time+4/3,-2/3,if(time-5:-2/3,-2/3,if(time-6:2/ 3*time-4,0,if(time-14:0,0,if(time-15:2/3*time-28/3,2/3,if(time-17:2/3,2/ 3,if(time-18:-2/3*time+12,0,0))))))))
A=0.5=181.891d,V=1.5
if(time-2:0,0,if(time-3:-181.891d*time+2*181.891d,-181.891d,if(time-5:-181.891d,-181.891d,if(time-6:181.891d*time-6*181.891d,0,if(time-14:0,
0,if(time-15:181.891d*time-14*181.891d,181.891d,if(time-17:181.891d, 181.891d,if(time-18:-181.891d*time+181.891d*18,0,0))))))))
A=2/3,V=2
if(time-2:0,0,if(time-3:-242.521818d*time+2*242.521818d,-242.521818 d,if(time-5:-242.521818d,-242.521818d,if(time-6:242.521818d*time-6*2 42.521818d,0,if(time-14:0,0,if(time-15:242.521818d*time-14*242.5218 18d,242.521818d,if(time-17:242.521818d,242.521818d,if(time-18:-242. 521818d*time+242.521818d*18,0,0))))))))
A=4/3=485.043636d,V=4
if(time-2:0,0,if(time-3:-485.043636d*time+2*485.043636d,-485.043636 d,if(time-5:-485.043636d,-485.043636d,if(time-6:485.043636d*time-6*4 85.043636d,0,if(time-14:0,0,if(time-15:485.043636d*time-14*485.0436 36d,485.043636d,if(time-17:485.043636d,485.043636d,if(time-18:-485. 043636d*time+485.043636d*18,0,0))))))))
3、三角正弦函数速度曲线
A=1,V=2
if(time-2:0,0,if(time-6:-0.5*(1+cos(time/4*2*pi)),0.5,if(time-14:0,0,if(tim e-18:0.5*(1+cos(time/4*2*pi)),-0.5,0))))
A=0.5=181.891d,V=1
if(time-2:0,0,if(time-6:-181.891d/2*(1+cos(time/4*2*pi)),181.891d,if(ti me-14:0,0,if(time-18:181.891d/2*(1+cos(time/4*2*pi)),-181.891d,0))))
