How does this code solve the problem of incorrectly using vertcat to concatenate arrays with inconsistent dimensions?

Question

乐 2024-6-7

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2126371-how-does-this-code-solve-the-problem-of-incorrectly-using-vertcat-to-concatenate-arrays-with-inconsi

编辑： Torsten 2024-6-7

clear;
clc;
w1=1;
l1=0.125;
l3=0.600;
l4=0.150;
l6=0.275;
l61=0.575;
for m=1:3601
    o1(m)=pi*(m-1)/1800;
    o31(m)=atan((l6+l1*sin(o1(m)))/(l1*cos(o1(m))));
    if o31(m)>=0
        o3(m)=o31(m);
    else o3(m)=pi+o31(m);
    end
    s3(m)=(l1*cos(o1(m)))/cos(o3(m));
    o4(m)=pi-asin((l61-13*sin(o3(m)))/14);
    se(m)=13*cos(o3(m))+14*cos(o4(m));
    if o1(m)==pi/2
        o3(m)=pi/2;
        s3(m)=l1+16;
    end
    if o1(m)==3*pi/2
        o3(m)=pi/2;
        s3(m)=l6-l1;
    end
    
    A1=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];
    B1=w1*[-l1*sin(o1(m));l1*cos(o1(m));0;0];
    D1=A1\B1;
    E1(:,m)=D1;
    ds(m)=D1(1);
    w3(m)=D1(2);
    w4(m)=D1(3);
    ve(m)=D1(4);
    A2=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];
    B2=-[-w3(m)*sin(o3(m)),(-ds(m)*sin(o3(m))-s3(m)*w3(m)*cos(o3(m))),0,0;w3(m)*cos(o3(m)),(ds(m)*cos(o3(m))-s3(m)*w3(m)*sin(o3(m))),0,0;0,-l3*w3(m)*cos(o3(m)),-l4*w4(m)*cos(o4(m)),0;0,-l3*w3(m)*sin(o3(m)),-l4*w4(m)*sin(o4(m)),0]*[ds(m);w3(m);w4(m);ve(m)];
    C2=w1*[-l1*w1*cos(o1(m));-l1*w1*sin(o1(m));0;0];
    B=B2+C2;
    D2=A2\B;
    E2(:,m)=D2;
    dds(m)=D2(1);
    a3(m)=D2(2);
    a4(m)=D2(3);
    ae(m)=D2(4);
end
o11=o1*180/pi;
y=[o3*180/pi;
    04*180/pi];
Error using vertcat
Dimensions of arrays being concatenated are not consistent.
w=[w3;w4];
a=[a3;a4];figure;
subplot(221);
h1=yyaxis(o11,y,o11, se);
axis equal;
title('位置线图');
xlabel('\it\thetal');
ylabel('\it\theta3,\theta4,Se');
subplot(222);
h2=yyaxis(o11,w,o11,ve);
title('速度线图');
xlabel('\it\theta1');
ylabel('\it\omega3,\omega4,Ve');
subplot(212);
h3=yyaxis(o11,a,o11,ae);
title('加速度线图');
xlabel('\it\theta1');
ylabel('\it\alpha3,\alpha4,\alphaE');
F=[o11;o3./pi*180;o4./pi*180;se;w3;w4;ve;a3;a4;ae]';
G=F(1:100:3601,:);