四杆机构优化设计

changfeng1937

本人菜鸟一个，论文要用到优化设计，写了一个程序。运行错误提示：??? Error using ==> svd
7 e5 z* Q' o" p" H/ V" Y* rInput to SVD must not contain NaN or Inf.求大神们帮帮忙。很着急！！
7 \/ D2 }) l6 d  pclc;
6 A4 q* I- _' A/ V7 a* x7 F8 Vclear all;
( e# {; M' R7 sglobal L1 L5
) Z( F* b, ?2 N: VL1=3000;
0 s; l" N; [; v# n3 {* S, RL5=1800;
x0=[780;2000;800;800;pi/12];
options=optimset('largeScale','off','TolFun',1e-12);
[x,fval,exitflag,output]=fmincon(@link_objfun1,x0,[],[],[],[],[],[],@link_confun1,options);
' \$ T9 D: _. c
  J3 T+ ~& d" N6 z* @. Y
* y( H! f, B" A$ R%目标函数
% C% w. f) k3 E% F; u: xfunction f=link_objfun1(x)
global L1 L5
f=0;
$ L+ o7 G% x* N; f. i( [snti0=0;
" _6 R& h3 j9 H! [! k- S+ i# K7 Nfor i=0:10
snti=snti0+pi/6*i/10;   
4 e# o4 C: f. P) V) Fbati=acos((L1-x(1)*sin(snti+x(5)))/(L1^2+x(1)^2-2*L1*x(1)*sin(snti+x(5)))^1/2)...
9 E2 ~, v" {' e7 _    +acos((L1^2+x(1)^2+x(3)^2-x(2)^2-2*L1*x(1)*sin(snti+x(5)))/2*x(3)*(L1^2+x(1)^2-2*L1*x(1)*sin(snti+x(5)))^1/2)...
    +acos(x(4)/x(3));
: L" y2 P$ k; |6 T9 \# H0 Q( d" n" ~  Pf=f+(L1*cossnti+L5*cos(snti+bati)-L1)^2;
. ~- a5 R1 o: L8 Q- ^end

%约束函数
' v& |% ^9 N* Z2 n8 _function [c ceq]=link_confun1(x)
global L1
snti0=0;
bati0=acos((L1-x(1)*sin(snti0+x(5)))/(L1^2+x(1)^2-2*L1*x(1)*sin(snti0+x(5)))^1/2)...
    +acos((L1^2+x(1)^2+x(3)^2-x(2)^2-2*L1*x(1)*sin(snti0+x(5)))/2*x(3)*(L1^2+x(1)^2-2*L1*x(1)*sin(snti0+x(5)))^1/2)...
& ?  K. N/ L2 }! G0 X0 X    +acos(x(4)/x(3));
2 O( l8 V% v: mc=[-x(1)
( ~: E% o1 _# ]    -x(2)
7 G: g; E. o0 l7 p6 V4 P    -x(3)
    -x(4)
    x(1)-L1
    x(1)-x(2)
0 B# t7 a/ z3 r5 Y    x(1)-x(3)
& j; M5 \0 @4 O  |+ H2 U  O    x(1)+x(2)-x(3)-L1
    L1-x(2)-x(3)-x(1)
    x(3)-x(1)-x(2)-L1];
ceq=bati0-pi/2;