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大家好，请教大家一个问题：
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为什么运行时会有这样的错误：Warning: Failure at t=1.155426e+000. Unable to meet integration tolerances without reducing the step size below the smallest value allowed (3.552714e-015) at time t.下面是我的程序，谢谢大家了 fuction dx=mw(t,x) kk1=100; kk2=100; kk3=100; kk4=100; kk5=100; kk6=100; beta1=0.001; beta2=0.001; beta3=0.001; h=0.01; phi1min=1/1500; phi1max=1/900; phi2min=1/600; phi2max=1/500; phi3min=1/1900; phi3max=1/1700; % norm(w1(t,x(2)))<beta1+x(15)*norm(x(2)); % norm(w2(t,x(4)))<beta2+x(17)*norm(x(4)); % norm(w3(t,x(6)))<beta3+x(19)*norm(x(6)); yo1=(h*(1-cos(8*3.14))/2).*(t<=1.25&&t>=1); yo2=(h*(1-cos(8*3.14))/2).*(t<=1.25&&t>=1); yo3=(h*(1-cos(8*3.14))/2).*(t<=1.25&&t>=1); yo4=(h*(1-cos(8*3.14))/2).*(t<=1.25&&t>=1); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% deltay1=x(1)+a*sin(x(3))-c*sin(x(5))-x(7); deltay2=x(1)+a*sin(x(3))+d*sin(x(5))-x(9); deltay3=x(1)-b*sin(x(3))-c*sin(x(5))-x(11); deltay4=x(1)-b*sin(x(3))+d*sin(x(5))-x(13); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% ddeltay1=x(2)+a*cos(x(3))*x(4)-c*cos(x(5))*x(6)-x(8); ddeltay2=x(2)+a*cos(x(3))*x(4)+d*cos(x(5))*x(6)-x(10); ddeltay3=x(2)-b*cos(x(3))*x(4)-c*cos(x(5))*x(6)-x(12); ddeltay4=x(2)-b*cos(x(3))*x(4)+d*cos(x(5))*x(6)-x(14); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fs1=k1*deltay1+kn1*deltay1^3; fs2=k2*deltay2+kn2*deltay2^3; fs3=k3*deltay3+kn3*deltay3^3; fs4=k4*deltay4+kn4*deltay4^3; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% if ddeltay1>0 fd1=be1*ddeltay1; else fd1=bc1*ddeltay1; end if ddeltay2>0 fd2=be2*ddeltay2; else fd2=bc2*ddeltay2; end if ddeltay3>0 fd3=be3*ddeltay3; else fd3=bc3*ddeltay3; end if ddeltay4>0 fd4=be4*ddeltay4; else fd4=bc4*ddeltay4; end x1r=(0.03-0.72*t*t+1.92*t*t*t-1.44*t*t*t*t).*(t<0.5); x3r=(0.03-0.72*t*t+1.92*t*t*t-1.44*t*t*t*t).*(t<0.5); dx1r=(-1.44*t+5.76*t*t-5.76*t*t*t).*(t<0.5); dx3r=(-1.44*t+5.76*t*t-5.76*t*t*t).*(t<0.5); ddx1r=(-1.44+11.52*t-17.28*t*t).*(t<0.5); ddx3r=(-1.44+11.52*t-17.28*t*t).*(t<0.5); x5r=(0.03-0.72*t*t+1.92*t*t*t-1.44*t*t*t*t).*(t<0.5); dx5r=(-1.44*t+5.76*t*t-5.76*t*t*t).*(t<0.5); ddx5r=(-1.44+11.52*t-17.28*t*t).*(t<0.5); e1=x(1)-x1r; de1=x(2)-dx1r; e2=x(2)-kk1*tanh(e1)+dx1r; uy=1/x(16)*(-kk2*tanh(e2)-kk1*(1-tanh(e1)*tanh(e1))*de1+ddx1r-beta1-x(15)*norm(x)-e1)+fd1+fd2+fd3+fd4+fs1+fs2+fs3+fs4; e3=x(3)-x3r; de3=x(4)-dx3r; e4=x(4)-kk3*tanh(e3)+dx3r; utheta=1/x(18)*(-kk4*tanh(e4)-kk3*(1-tanh(e3)*tanh(e3))*de3+ddx3r-beta2-x(17)*norm(x)-e3)+a*cos(x(3))*(fd1+fd2+fs1+fs2)-b*cos(x(3))*(fd3+fd4+fs3+fs4);%*cos(x(3))\*cos(x(2)) e5=x(5)-x5r; de5=x(6)-dx5r; e6=x(6)-kk5*tanh(e5)+dx5r; ualpha=1/x(20)*(-kk6*tanh(e6)-kk5*(1-tanh(e5)*tanh(e5))*de5+ddx5r-beta3-x(19)*norm(x)-e5)+d*cos(x(5))*(fd2+fd4+fs2+fs4)-c*cos(x(5))*(fd1+fd3+fs1+fs3);%*cos(x(5))\*cos(x(5)) u1=(b*d*uy+d*utheta-(a+b)*ualpha)/((a+b)*(c+d)); u2=(c*b*uy+c*utheta+(a+b)*ualpha)/((a+b)*(c+d)); u3=(d*a*uy-d*utheta)/((a+b)*(c+d)); u4=(c*a*uy-c*utheta)/((a+b)*(c+d)); dx(1)=x(2); dx(2)=-x(16)*(fd1+fd2+fd3+fd4+fs1+fs2+fs3+fs4)+x(16)*uy+beta1+x(15)*norm(x); dx(3)=x(4); dx(4)=-x(18)*cos(x(3))*(a*(fd1+fd2+fs1+fs2)-b*(fd3+fd4+fs3+fs4))+x(18)*utheta+beta2+x(17)*norm(x); dx(5)=x(6); dx(6)=-x(20)*cos(x(5))*(d*(fd4+fd2+fs4+fs2)-c*(fd3+fd1+fs3+fs1))+x(20)*ualpha+beta3+x(19)*norm(x);% dx(7)=x(8); dx(8)=1/m1*(fd1+fs1-kt1*(x(7)-yo1))-1/m1*u1; dx(9)=x(10); dx(10)=1/m2*(fd2+fs2-kt2*(x(9)-yo2))-1/m2*u2; dx(11)=x(12); dx(12)=1/m3*(fd3+fs3-kt3*(x(11)-yo3))-1/m3*u3; dx(13)=x(14); dx(14)=1/m4*(fd4+fs4-kt4*(x(13)-yo4))-1/m4*u4; dx(15)=q1*norm(x)*e2; dx(16)=r1/x(16)*(-kk2*tanh(e2)-kk1*(1-tanh(e1)*tanh(e1))*de1+ddx1r-beta1-x(15)*norm(x)-e1)*e2.*(x(16)>phi1min&&x(16)<phi1max);%%%%%%phi1\deta1\gamma1 dx(17)=q2*norm(x)*e4; dx(18)=r2/x(18)*(-kk4*tanh(e4)-kk3*(1-tanh(e3)*tanh(e3))*de3+ddx3r-beta2-x(17)*norm(x)-e3)*e4.*(x(18)>phi2min&&x(18)<phi2max);%%%%%%%%phi2\deta2\gamma2 dx(19)=q3*norm(x)*e6; dx(20)=r3/x(20)*(-kk6*tanh(e6)-kk5*(1-tanh(e5)*tanh(e5))*de5+ddx5r-beta3-x(15)*norm(x)-e5)*e6.*(x(20)>phi3min&&x(20)<phi3max);%%%%%%%%%%phi3\deta3\gamma3 dx(21)=x(2)-dx1r; dx=dx'; end |
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