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wzycrfpxz

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虫号: 1947568
注册: 2012-08-20
专业: 系统科学与系统工程

[求助] 有谁用过tomlab，帮我看看下面程序哪里出错了。。。。

toms t
toms t_switch1
toms t_switch2
toms t_f
p1 = tomPhase('p1',t,0,t_switch1,4);
p2 = tomPhase('p2',t,t_switch1,t_switch2-t_switch1,4);
p3 = tomPhase('p3',t,t_switch2,t_f-t_switch2,4);
setPhase({p1,p2,p3});

tomStates x1 x2 x3 x4 x5 x6 x7 alpha beita

x0 = {
   t_f == 56
   t_switch1 == 16
   t_switch2 == 35
   icollocate({ x1 == -1900*t/t_f+1900;
                  x2 == 0;
                  x3 == -3100*t/t_f+3100;
                  x4 == -40*t/t_f+40;
                  x5 == -20*t/t_f+20;
                  x6 == 50*t/t_f-50;
                  x7 == -1905*t/t_f+1905;
                  alpha==1.2212*t/t_f-1.2212;
                  beita==0.6981*t/t_f-0.6891}) };
cbox = {
      36<=t_f<=66};
cbnd = { initial ({ x1==1900;x2==0;x3==3100;x4==40;x5==20;x6==-50;x7==1905;
                  alpha==-1.2212;beita==-0.6981})
      final ({x1==0;x2==0;x3==0;x4==0;x5==0;x6==0;x7==1653.6;
                  alpha==0;beita==0})};
ceq = {
   collocate(dot(x1)==x4)
   collocate(dot(x2)==x5)
   collocate(dot(x3)==x6)
   collocate(p1,dot(x4)== 11708/x7*sin(alpha)*cos(beita))
   collocate(p2,dot(x4)== 4390.5/x7*sin(alpha)*cos(beita))
   collocate(p3,dot(x4)== 11708/x7*sin(alpha)*cos(beita))
   collocate(p1, dot(x5)== 11708/x7*sin(beita))
   collocate(p2,dot(x5)==4390.5/x7*sin(beita))
   collocate(p3,dot(x5)==11708/x7*sin(beita))
   collocate(p1,dot(x6)==11708/x7*cos(alpha)*cos(beita)-3.7114)
   collocate(p2,dot(x6)==4390.5/x7*cos(alpha)*cos(beita)-3.7114)
   collocate(p3,dot(x6)==11708/x7*cos(alpha)*cos(beita)-3.7114)
   collocate(p1,dot(x7)==-4.6817)
   collocate(p2,dot(x7)==-1.7556)
   collocate(p3,cot(x7)==-4.6817)};
cco=continuity ({x1,x2,x3,x4,x5,x6,x7,alpha,beita});
objective=t_f;

options=struct;
solution=ezsolve(objective,{cbox,cbnd,ceq,cco},x0,options);
t_plot = linspace(0,subs(t_f,solution),100);
x1_plot = atPoints(t_plot,x1,solution);
x2_plot = atPoints(t_plot,x2,solution);
x3_plot = atPoints(t_plot,x3,solution);
x4_plot = atPoints(t_plot,x4,solution);
x5_plot = atPoints(t_plot,x5,solution);
x6_plot = atPoints(t_plot,x6,solution);
x7_plot = atPoints(t_plot,x7,solution);
alpha_plot = atPoints(t_plot,alpha,solution);
beita_plot = atPoints(t_plot,beita,solution);

clf
subplot(2,1,1)
plot(t_plot,[x1_plot x2_plot]);
legend('x1','x2');

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