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ÎÒµÄMº¯ÊýÎļþÊÇ function xdot=dianci1(t,x) global w m=19.6;g=9.8;la=0.116;lb=0.144;l=la+lb; Jox=0.393;Joy=0.393;Joz=0.023; ca=0.0004;cb=0.0004; Ioxa=4;Ioya=4;Ioxb=4;Ioyb=4; ra=0.0442;Da=0.08;Ara=pi*Da*ra; rb=0.0442;Db=0.08;Arb=pi*Db*rb; axy=0.16; Nra=57;Nrb=57;miu0=4e-7*pi; K=1;%K=7800; KP=3.8;KI=200;KD=0.01; m1=lb*m/l;m2=la*m/l; e1=0;e2=0; ixa=K*(KP*x(1)+KI*x(2)+KD*x(1)); iya=K*(KP*x(3)+KI*x(4)+KD*x(3)); ixb=K*(KP*x(5)+KI*x(6)+KD*x(5)); iyb=K*(KP*x(7)+KI*x(8)+KD*x(7)); %u(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller; %x(1)=error(k); %Calculating P %x(2)=(error(k)-error_1)/ts; %Calculating D %x(3)=x(3)+error(k)*ts; %Calculating I %xi(k)=x(3); fra=miu0*Nra^2*Ara*(Ioxa+ixa)^2/(4*(ca+x(1))^2); fla=miu0*Nra^2*Ara*(Ioxa-ixa)^2/(4*(ca-x(1))^2); fta=miu0*Nra^2*Ara*(Ioya+iya)^2/(4*(ca+x(3))^2); fba=miu0*Nra^2*Ara*(Ioya-iya)^2/(4*(ca-x(3))^2); frb=miu0*Nrb^2*Arb*(Ioxb+ixb)^2/(4*(cb+x(5))^2); flb=miu0*Nrb^2*Arb*(Ioxb-ixb)^2/(4*(cb-x(5))^2); ftb=miu0*Nrb^2*Arb*(Ioyb+iyb)^2/(4*(cb+x(7))^2); fbb=miu0*Nrb^2*Arb*(Ioyb-iyb)^2/(4*(cb-x(7))^2); Fxa=fra-fla+axy*(x(1)/ca)*(fta+fba); Fya=fta-fba+axy*(x(3)/ca)*(fra+fla); Fxb=frb-flb+axy*(x(5)/cb)*(ftb+fbb); Fyb=ftb-fbb+axy*(x(7)/cb)*(frb+flb); fx=m1*e1*w^2*cos(w*t)+m2*e2*w^2*cos(w*t); fy=-m1*e1*w^2*sin(w*t)+m2*e2*w^2*sin(w*t); A=-Fxa-Fxb+fx; B=-Fya-Fyb+m*g+fy; C=Fxa*la-Fxb*lb-Joz/l*w*x(2)+Joz*w/l*x(4); D=Fya*la-Fyb*lb+Joz/l*w*x(6)+Joz*w/l*x(8); xdot=[x(2); (Joy*A*l-C*l*la*m)/(Joy*la*m+Joy*lb*m); x(4); (Joy*A*l+ C*l*lb*m)/(Joy*la*m+Joy*lb*m); x(6); (Jox*B*l-D*l*la*m)/(Jox*la*m+Jox*lb*m); x(8); (Jox*B*l+D*l*lb*m)/(Jox*la*m+Jox*lb*m)]; ÔÚmatlabÖÐÔËÐгÌÐò clc; clear; %global w w=100; x0=[0,0,0,0,0,0,0,0]; for n=1:60 [t,x]=ode45('dianci1',[0 10],x0); x0=x(end, ;hold on plot(x(:,1),x(:,2)); end µ«Êǽá¹ûÔõô»á³ö´í ´íÎóÊÇ ??? Error using ==> odearguments at 116 DIANCI1 returns a vector of length 4, but the length of initial conditions vector is 8. The vector returned by DIANCI1 and the initial conditions vector must have the same number of elements. Error in ==> ode45 at 173 [neq, tspan, ntspan, next, t0, tfinal, tdir, y0, f0, odeArgs, odeFcn, ... Error in ==> jiedianci at 7 [t,x]=ode45('dianci1',[0 10],x0); ÎҺܾÀ½á¡£Îҵķ½³ÌÊÇ8¸ö£¬ÎªÊ²Ã´ËµÊÇ·µ»Ø4¸ö£¿ Õâ¸öÎÒ¸ÃÔõôµ÷ʽ£¬²ÅÄܳö½á¹û£¿ Ï£Íû´ó¼Ò¸øµã½¨Òé¡£ ллÁË¡£ |
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gyq274706322
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