Hello, I have problem with my s-function

4 次查看（过去 30 天）
Santosh Kumar Choudhary
回答： Chunru 2021-9-4
The errors are:
Error in 'Quad4/s-function' while executing MATLAB S-function 'quadrotor_sfcn', flag = 1 (derivatives), at time 0.0.
Dimensions of arrays being concatenated are not consistent.
And this is my s-function:
function [sys,x0,str,ts] = quadrotor_sfcn(t,x,u,flag)
switch flag
% Initialization %
case 0
sizes = simsizes;
sizes.NumContStates = 6;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 3;
sizes.NumInputs = 3;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = [30 0 -20 0 10 0];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1
sys=quadrotor(t,x,u);
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3
sys = [x(1) x(3) x(5)];
case{2,4,9}
sys=[];
otherwise
error(['unhandledFlag=', num2str(flag)]);
end
% systems details
function xdot=quadrotor(t,x,u)
Jx=4.856*10^-3;
Jy=Jx;
Jz=8.801*10^-3;
Jr=3.357*10^-5;
m=0.468;l=0.225;
g=9.81;a1=(Jy-Jz)/Jx;
a2=Jr/Jx;a3=(Jz-Jx)/Jy;
a4=Jr/Jy;a5=(Jx-Jy)/Jz;
b1=l/Jx;b2=l/Jy;b3=1/Jz;
x1dot=x(2);
x2dot=x(4)*x(6)*a1-x(4)*a2*g+u;
x3dot=x(4);
x4dot=x(2)*x(6)*a3+x(2)*a4*g+u;
x5dot=x(6);
x6dot=x(4)*x(2)*a5+u;
xdot = [x1dot x2dot x3dot x4dot x5dot x6dot];

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采纳的回答

Chunru
Chunru 2021-9-4
Try the following:
xdot = [x1dot x2dot x3dot x4dot x5dot x6dot]';

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