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hszd1234

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虫号: 2882438
注册: 2013-12-19
专业: 控制理论与方法

[求助] matlab 中trim函数总出现Index exceeds matrix dimensions，求大神帮忙解决

运行一个trim函数，可是总是错误
Index exceeds matrix dimensions.

Error in trim>trim_alg (line 164)
gg=[x(ix)-x0(ix);y(iy)-y0(iy);u(iu)-u0(iu)];

Error in trim (line 84)
[x,u,y,dx,options]=trim_alg(fcn,varargin{:});
不知道该怎么办了。源程序如下：
P.gravity = 9.8;

%physical parameters of airframe
P.mass = 13.5 ;
P.Jx = 0.8244;
P.Jy = 1.135;
P.Jz = 1.579;
P.Jxz  = 0.1204;

% aerodynamic coefficients
P.M          = 50;
P.epsilon    = 0.1592;
P.alpha0       = 0.4712;
P.rho          = 1.2682;
P.c          = 0.18994;
P.b          = 2.8956;
P.S          = 0.55;
P.S_prop       = 0.2027;
P.k_motor    = 80;
P.k_T_p       =0;
P.k_omega    =0;
P.C_L_0       = 0.28;
P.C_L_alpha    = 3.45;
P.C_L_q       = 0.0;
P.C_L_delta_e = -0.36;
P.C_D_0       = 0.03;
P.C_D_q       = 0.0;
P.C_D_alpha    =0.30;
P.C_D_delta_e = 0.0;
P.C_M_0       = -0.02338;
P.C_M_alpha    = -0.38;
P.C_M_q       = -3.6;
P.C_M_delta_e = -0.5;
P.C_Y_0       = 0.0;
P.C_Y_beta    = -0.98;
P.C_Y_p       = -0.26;
P.C_Y_r       = 0.0;
P.C_Y_delta_a = 0.0;
P.C_Y_delta_r = -0.17;
P.C_ell_0    = 0.0;
P.C_ell_beta = -0.12;
P.C_ell_p    = -0.26;
P.C_ell_r    = 0.14;
P.C_ell_delta_a = 0.08;
P.C_ell_delta_r = 0.105;
P.C_n_0       = 0.0;
P.C_n_beta    = 0.25;
P.C_n_p       = 0.022;
P.C_n_r       = -0.35;
P.C_n_delta_a = 0.06;
P.C_n_delta_r = -0.032;
P.C_prop       = 1;

% wind parameters
P.wind_n = 0;%3;
P.wind_e = 0;%2;
P.wind_d = 0;
P.L_wx = 1250;
P.L_wy = 1750;
P.L_wz = 1750;
P.sigma_wx = 1;
P.sigma_wy = 1;
P.sigma_wz = 1;

% autopilot sample rate
P.Ts = 0.01;

% compute trim conditions using \'mavsim_chap5_trim.mdl\'
P.Va = 13;       % desired airspeed (m/s)
gamma = 0*pi/180;  % desired flight path angle (radians)
R    = 0;       % desired radius (m) - use (+) for right handed orbit,
                  %                         (-) for left handed orbit
% first cut at initial conditions
P.pn0 =0;  % initial North position
P.pe0 = 0;  % initial East position
P.pd0 = 0;  % initial Down position (negative altitude)
P.u0    = P.Va; % initial velocity along body x-axis
P.v0    = 0;  % initial velocity along body y-axis
P.w0    = 0;  % initial velocity along body z-axis
P.phi0 = 0;  % initial roll angle
P.theta0 = 0;  % initial pitch angle
P.psi0 = 0;  % initial yaw angle
P.p0    = 0;  % initial body frame roll rate
P.q0    = 0;  % initial body frame pitch rate
P.r0    = 0;  % initial body frame yaw rate
X0=[0;0;0;P.Va;0;0;0;0;gamma;0;0;0];
U0=[0;0;0;1];
%initialize the trim para

X0    =[0;0;0;P.Va;0;0;0;gamma;0;0;0;0];
IX0 =[];
U0    =[0;0;0;1];
IU0 =[];
Y0    =[0;0;0;P.Va;0;0;0;0;0;0;0;0;];
IY0 =[4;5;6;8;9];
DX    =[0;0;P.Va*sin(gamma);0;0;0;0;0;0;0;0;0];
IDX =[3;4;5;6;7;8;9;10;11;12];
% run trim commands
[x_trim, u_trim,y_trim,dx_trim]=trim(\'mavsim_trim\',X0,U0,Y0,IX0,IU0,IY0,DX,IDX);
P.u_trim = u_trim
P.x_trim = x_trim

% set initial conditions to trim conditions
% initial conditions
P.pn0 = x_trim(1);  % initial North position
P.pe0 = x_trim(2);  % initial East position
P.pd0 = x_trim(3);  % initial Down position (negative altitude)
P.u0    = x_trim(4);  % initial velocity along body x-axis
P.v0    = x_trim(5);  % initial velocity along body y-axis
P.w0    = x_trim(6);  % initial velocity along body z-axis
P.phi0 = x_trim(7);  % initial roll angle
P.theta0 = x_trim(8);  % initial pitch angle
P.psi0 = x_trim(9);  % initial yaw angle
P.p0    = x_trim(10);  % initial body frame roll rate
P.q0    = x_trim(11);  % initial body frame pitch rate
P.r0    = x_trim(12);  % initial body frame yaw rate
请大神帮忙解决一下，谢谢

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