Inner Matrix Dimensions Must Agree

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Neil Solan 2018-3-26

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链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/390827-inner-matrix-dimensions-must-agree

评论： Rik 2018-3-26

Here is my code:

clear
clc
close all
%Constants:
m_b = 0.3; %[kg]
m_f = 0.025; %[kg]
m_r = 0.1; %[kg]
l_f = 0.05; %[m]
l_r = 0.13; %[m]
k_tf = 4; %[N*m/rad]
k_tr = 10; %[N*m/rad]
k_f = 5; %[N/m]
k_r = 20; %[N/m]
zeta_1 = 0.06;
zeta_2 = 0.02;
%Initial Conditions:
y_0 = 0.01; %[m]
y_dot_0 = 0.5; %[m/s]
theta_f_0 = pi/15; %[rad]
theta_f_dot_0 = -0.01; %[rad/s]
theta_r_0 = pi/5; %[rad]
theta_r_dot_0 = 0.4; %[rad/s]
t = 0:0.1:10;
T_f = 0.1*sin(2*pi*t-0.1); %[N*m]
T_r = 200*sin(10*pi*t); %[N*m]
%Matrices:
M = [m_b+m_f+m_r m_f*l_f/2 m_r*l_r/2;m_f*l_f/2 m_f*l_f^2/3 0;m_r*l_r/2 0 m_r*l_r^2/3];
K = 2*[k_f+k_r k_f*l_f k_r*l_r;k_f*l_f k_f*l_f^2+k_tf 0;k_r*l_r 0 k_r*l_r^2+k_tr];
F = [T_f+T_r;T_f;T_r];
zeta = [zeta_1;zeta_2];
%Mass Normalized Stiffness:
K_tilde = inv(sqrtm(M))*K*inv(sqrtm(M));
[P,Lambda]=eigs(K_tilde);
S = inv(sqrtm(M))*P;
for i=1:length(t)
    R(:,i) = (P'*inv(sqrtm(M)))*F(:,i);
end
omega = sqrtm(Lambda);
AB_constants = [1/(2*omega(1,1)) omega(1,1)/2;1/(2*omega(2,2)) omega(2,2)/2];
AB = AB_constants\zeta;
alpha = AB(1);
beta = AB(2);
C = alpha*M + beta*K;
for i=1:length(zeta(:,1))
    omega_d(i) = omega(i,i)*sqrt(1-(zeta(i))^2);
end      
X_0 = [y_0;theta_f_0;theta_r_0];
X_dot_0 = [y_dot_0;theta_f_dot_0;theta_r_dot_0];
r_0 = (S^-1)*X_0;
r_dot_0 = (S^-1)*X_dot_0;
for j=1:length(r_0)
       R_du(j,:) = DampedSystem_ArbitraryForce_DuhamelIntegral_Function(t,t,R(j,:),0,omega(j,j));
end
for j=1:length(r_0)
     r(j,:) = (exp(-zeta(j)*omega(j,j)*t)*(cos(omega_d(j,j)*t)+(zeta(j)/sqrt(1-(zeta(j))^2))*sin(omega_d(j,j)*t))*r_0(j,:)+((1/(omega_d(j,j)))*exp(-zeta(j)*omega(j,j)*t)*sin(omega_d(j,j)*t))*r_dot_0(j,:)+R_du(j,:));
end
for i=1:length(t)
    X(:,i) = S*r(:,i);
end
figure(1)
subplot(2,1,1)
plot(t,X(1,:))
hold on
subplot(2,1,2)

Here is my Error:

Error using * Inner matrix dimensions must agree.

Error in Homework6Prob2 (line 77)
     r(j,:) =
     (exp(-zeta(j)*omega(j,j)*t)*(cos(omega_d(j,j)*t)+(zeta(j)/sqrt(1-(zeta(j))^2))*sin(omega_d(j,j)*t))*r_0(j,:)+((1/(omega_d(j,j)))*exp(-zeta(j)*omega(j,j)*t)*sin(omega_d(j,j)*t))*r_dot_0(j,:)+R_du(j,:)); 
>>

And I'm not sure why this is happening, because from everything I can tell, all of my matrices are correctly called in this code? Can anyone help with what the problem is? Thank you.