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haoxuezhe123

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注册: 2012-03-04
专业: 微/纳机械系统

[求助] MATLAB的粒子群优化算法恳请大家看看错在

%%%%%%五杆机构角度力矩曲线%%%
function sum_erroeT=f_and_bar1(RR)
%clc
%clear all
%r1=2.366947e+000;r2=1.319752e+000;r3=3.133751e+000;r4=3.421460e+000;thta20=5.837441e-001;K4=1.910935e+003;
%r1=2.638433e+000;r2=2.166667e+000;r3=3.617646e+000;r4=3.201909e+000;thta20=1.220969e+000;K4=1.995060e+003;
L1=RR(1);L2=RR(2);L3=RR(3);L4=RR(4);L5=RR(5);theta20=RR(6);theta30=RR(7);K1=RR(8);K2=RR(9);K3=RR(10);K4=RR(11);
n=360;
theta3=zeros(1,n+1);theta4=zeros(1,n+1);theta5=zeros(1,n+1);Tin=zeros(1,n+1);
R=[L1,L2,L3,L4,L5];
R=sort(R);
%%%初始位置%%%
m=(L1^2+L2^2-2*L1*L2*cos(theta20))^(1/2);
theta21=acos((L2^2+m^2-L1^2)/(2*L2*m));
n=(L3^2+m^2-2*L3*m*cos(pi-theta20+theta30-theta21))^(1/2);
theta41=acos((L4^2+L5^2-n^2)/(2*L4*L5));
theta53=acos((n^2+L5^2-L4^2)/(2*n*L5));
theta52=acos((m^2+n^2-L3^2)/(2*m*n));
theta51=acos((L1^2+m^2-L2^2)/(2*L1*m));
theta50=pi-theta51-theta52-theta53;
theta40=2*pi-theta41-theta51-theta52-theta53;

%%%%活动位置%%%%

zoom1=16*pi/8;
dt2=2/180*zoom1;
theta1=0*pi/180;
dtdt2=1;
theta=[theta1 theta20 theta30 theta40 theta50];
theta2(1)=theta20;
theta3(1)=theta30;
theta4(1)=theta40;
theta5(1)=theta50;

K5=50000;
for n=2:95

[dtdt3,dtdt4,dtdt5]=mfv00111(theta,theta20,theta30,theta40,theta50,L2,L3,L4,L5,K2,K3,K4,K5);  % 调用函数计算运动系数

theta2(n)=theta2(n-1)+dtdt2*dt2;
theta3(n)=theta3(n-1)+dtdt3*dt2;
theta4(n)=theta4(n-1)+dtdt4*dt2;
theta5(n)=theta50;                                  % 更新各杆角度

theta=[theta1 theta2(n) theta3(n) theta4(n) theta5(n)];             % 记录角度，共5列，每一列是一个杆的角度

d2t2=dtdt2;
d3t2=dtdt3;
d4t2=dtdt4;
d5t2=dtdt5;                                                    % 三个运动系数，计算Tin时需要
% n=n+1;
end

hold on
K5=0;
for n=95:360

[dtdt3,dtdt4,dtdt5]=mfv00111(theta,theta20,theta30,theta40,theta50,L2,L3,L4,L5,K2,K3,K4,K5);                                                 % 调用函数计算运动系数

theta2(n)=theta2(n-1)+dtdt2*dt2;
theta3(n)=theta3(n-1)+dtdt3*dt2;
theta4(n)=theta4(n-1)+dtdt4*dt2;
theta5(n)=theta5(n-1)+dtdt5*dt2;                                     % 更新各杆角度

theta=[theta1 theta2(n) theta3(n) theta4(n) theta5(n)];             % 记录角度，共5列，每一列是一个杆的角度

d2t2=dtdt2;
d3t2=dtdt3;
d4t2=dtdt4;
d5t2=dtdt5;                                                       % 三个运动系数，计算Tin时需要
% n=n+1;

end

for i=1
Tin(i)=K1*(theta(2)-theta20)+K2*(theta(2)-theta20-theta(3)+theta30).*(1-d3t2)+K3*(theta(4)-theta40-theta(3)+theta30).*(d4t2-d3t2)+K4*(theta(5)-theta50-theta(4)+theta40).*(d5t2-d4t2)+K5*(theta(5)-theta50).*d5t2;
end

iM=0;kM_sign=0;
  for m=1:n
   j=m+1;
if Tin(j)<0
kM_sign=1;
iM=iM+1;
kM(iM)=j;
Mthta2(iM)=(j-1)*zoom1/n;
dMthta2=Mthta2(iM)-Mthta2(1);
if  dMthta2>2*pi
      break
end
end
  end
  T=Tin;
  if kM_sign==0
   sum_erroeT=99000000000000;
  else
   a0=0.007446;a1=-0.002295;b1=0.007685;a2=-0.004961;b2=-0.001599;a3=0.0001106;b3=0.001056;a4=-0.0009491;b4=-0.002075;
   a5=0.002258;b5=0.0005715;a6=-0.001361;b6=0.001003;a7=8.405e-005;b7=-0.0009052;a8=0.0001944;b8=0.0002579;w=1.819;
   xmax=1.527976897357042;
   x=0:zoom1/n

xmax+0.05);
   f=a0+a1*cos(w*x)+b1*sin(w*x)+a2*cos(2*w*x)+b2*sin(2*w*x)+a3*cos(3*w*x)+b3*sin(3*w*x)+a4*cos(4*w*x)+b4*sin(4*w*x)+a5*cos(5*w*x)+b5*sin(5*w*x)+a6*cos(6*w*x)+b6*sin(6*w*x)+a7*cos(7*w*x)+b7*sin(7*w*x)+a8*cos(8*w*x)+b8*sin(8*w*x);
   zkM=length(kM);
   z=length(f);
   T_kM=zeros(1,z);
   if z>1.2*zkM
         sum_erroeT=99000000000000;
      else
         if  z>zkM
            subn=z-zkM;
            for i_zkM=1:zkM
                  T_kM(i_zkM)=T(kM(i_zkM));
            end
            for i_subn=1:subn
                  T_kM(zkM+i_subn)=f(zkM+i_subn);
            end
         else
            for i_zkM=1:z
                  T_kM(i_zkM)=T(kM(1)+i_zkM-1);
            end
         end
         errorT=zeros(1,z);
         ErrorT=zeros(1,z);
         X=0;
         for k=1:z
            X=X+(k-1)*zoom1/n;
            errorT(k)=f(k)-T_kM(k);
            if X>0.4
               ErrorT(k)=300*errorT(k).^4;
            else
               ErrorT(k)=errorT(k).^4;
            end
         end
         sum_erroeT=2*sum (ErrorT);%/10000+max(R)+K4/1000;
   end
end
end
在用粒子群优化算法优化时总是出现too many input arguments的错误

[ Last edited by haoxuezhe123 on 2012-3-4 at 14:39 ]

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