adams中关于motion驱动的问题。

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adams中关于motion驱动的问题。
机构比较复杂，电机的转速在每一秒也不一样， 经过matlab高次拟合后的函数为p1 = 1.0299e-008;
  p2 = -4.1086e-007;
  p3 = 5.4341e-006;
  p4 = -2.2375e-005;
  p5 = -0.00030668;
  p6 = 0.00066864;
  p7 = 0.1325305;
y = p1*x.^6 + p2*x.^5 +p3*x.^4 + p4*x.^3 +p5*x.^2 + p6*x.^1 +p7 ;

写在adams里面，写成1.0299e-008*time*time*time*time*time*time  -4.1086e-007*time*time*time*time*time + 5.4341e-006*time*time*time*time -2.2375e-005*time*time*time  -0.00030668*time*time +0.00066864*time + 0.1325305

在仿真的时候就出错了，错误提示是WARNING:    Initial displacement of MOTION bakupingdongjigou0002.MOTION_1 differs from that of
   JOINT bakupingdongjigou0002.JOINT_9, on which it is located, by 0.13253 .
ERROR:      No convergence was achieved after 25 iterations while solving for
   the kinematic displacements.
ERROR:   Simulation failure detected

jinqiang_adams

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