Tell the simplify function to keep working on ‘eqn’ as long as necessary:
eqns = simplify(eqn, 'Steps',150)
producing:
eqns =
(sin(theta_b + theta_s)*(R_s*(r_w*dtheta_b^2*m_r^2*r_cm^3 + I_r*r_w*dtheta_b^2*m_r*r_cm + 2*r_w*dtheta_b*dtheta_s*m_r^2*r_cm^3 + 2*I_r*r_w*dtheta_b*dtheta_s*m_r*r_cm + r_w*dtheta_s^2*m_r^2*r_cm^3 + I_r*r_w*dtheta_s^2*m_r*r_cm) - R_s*g*m_r^2*r_cm^2*r_w*(2*sin(theta_b/2 + theta_s/2)^2 - 1)) - R_s*(I_r*R_s^2*tau + I_r*R_s*R_w*tau + R_s^2*m_r*r_cm^2*tau - I_r*R_s*r_w*tau + R_s*R_w*m_r*r_cm^2*tau - R_s*m_r*r_cm^2*r_w*tau) + R_s*(R_w*m_r*r_cm*tau - m_r*r_cm*r_w*tau)*(2*sin(theta_b/2 + theta_s/2)^2 - 1))/(r_w*(I_r*m_r + I_r*m_s + m_r^2*r_cm^2 + m_r*m_s*r_cm^2 + m_r^2*r_cm^2*(sin(theta_b + theta_s)^2 - 1) + I_r*I_s*R_s^2 + I_s*R_s^2*m_r*r_cm^2))
Best Answer