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标题:
怎样改正这个错误
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作者:
deven1985
时间:
2011-9-17 15:48
标题:
怎样改正这个错误
程序如下，错误处已用红色标出，请问各位怎样改正，谢谢！！
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clear all;
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close all;
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a=59.36;b=7.42;m=2374.46;n=296.92;
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ts=0.001;
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A1=[0,0,1,0;0,0,0,1;a,-b,0,0;b,-a,0,0];
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B1=[0,0;0,0;m,-n;n,-m];
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C1=[1,0,0,0];
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D1=[0,0];
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[A,B,C,D]=c2dm(A1,B1,C1,D1,ts,'z');
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x=[0;0;0;0];
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r_1=0;r_2=0;g_1=0;g_2=0;
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c1=5.0;c2=5.0;
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eq=5;
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q=30;
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Ce=[c1,0,1,0;0,c2,0,1];
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for k=1:1:2000
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time(k)=k*ts;
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r(k)=1.0;
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g(k)=1.0;
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%Using Waitui method
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dr(k)=(r(k)-r_1)/ts;
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dg(k)=(g(k)-g_1)/ts;
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dr_1=(r_1-r_2)/ts;
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dg_1=(g_1-g_2)/ts;
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r1(k)=2*r(k)-r_1;
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g1(k)=2*g(k)-g_1;
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dr1(k)=2*dr(k)-dr_1;
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dg1(k)=2*dg(k)-dg_1;
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R=[r(k);g(k);dr(k);dg(k)];
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R1=[r1(k);g1(k);dr1(k);dg1(k)];
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E=R-x;
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e(k)=E(1);
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de(k)=E(2);
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s(k)=Ce*E;
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X1=abs(e(k))+abs(de(k));
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M=3;
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if M==1 %EXP reaching law
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ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);
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u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
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elseif M==2 %Variable rate reachine law
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ds(k)=-eq*ts*X1*sign(s(k));
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u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
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elseif M==3 %Coposite reaching law
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k0=0.60;
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if X1>k0 %EXP reachine law
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ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);
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u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
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elseif X1<=k0 %Variable rate reachine law
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ds(k)=-eq*ts*X1*sign(s(k));
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u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
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end
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end
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if u(k)>=10
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u(k)=10;
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end
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if u(k)<=-10
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u(k)=-10;
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end
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x=A*x+B*u(k);
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y(k)=x(1);
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%Update Parameters
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r_2=r_1;
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r_1=r(k);
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end
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figure(1)
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plot(time,r,'r',time,y,'b');
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xlabel('Time(second)');ylabel('Position tracking');
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figure(2)
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plot(time,s,'r');
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xlabel('Time(second)');ylabel('Switch function s');
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figure(3)
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plot(e,de,'r',e,-c*e,'b');
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axis([0,0.001,-0.01,0]);
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xlabel('e');ylabel('de');
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figure(4)
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plot(time,u,'r');
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xlabel('Time(second)');ylabel('u');
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??? In an assignment A(I) = B, the number of elements in B and
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I must be the same.
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Error in ==> matlab02 at 40
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s(k)=Ce*E;
作者:
deven1985
时间:
2011-9-17 15:48
补充一下：当我把错误行中的“s(k)=Ce*E”换成“s=Ce*E”后，错误就没有了，这是为什么？谢谢大家了！
作者:
厚积薄发
时间:
2011-9-17 16:56
维数不匹配
作者:
都天锴
时间:
2012-12-15 12:01
不知道。。。。
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