vector output in matlab function block
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Hello,
thanks for reading.
I have the following code in my matlab function block.
function x = fcn(u)
%definition of vehicle forces and torque
u(1) = Fx_v;
u(2) = Fy_v;
u(3) = Mz_v;
%definition of current torque limits
i = 1:4;
u(4) = P_max_1;
u(5) = P_max_2;
u(6) = P_max_3;
u(7) = P_max_4;
u(8) = M_reg_1;
u(9) = M_reg_2;
u(10) = M_reg_3;
u(11) = M_reg_4;
%active stimulation Input
u(12) = k;
u(13) = delta_T_aA;
u(14) = SW_1; %Schwimmwinkel beta
u(15) = SW_2;
u(16) = SW_3;
u(17) = SW_4;
u(18) = w_1;
u(19) = w_2;
u(20) = w_3;
u(21) = w_4;
u(22) = d_delay_1;
u(23) = d_delay_2;
u(24) = d_delay_3;
u(25) = d_delay_4;
u(26) = r_dyn_1;
u(27) = r_dyn_2;
u(28) = r_dyn_3;
u(29) = r_dyn_4;
u(30) = SOC_1;
u(31) = SOC_2;
u(32) = SOC_3;
u(33) = SOC_4;
u(34) = f_lag;
u(35) = n;
u(36) = j;
coder.extrinsic('ParameterSarah');
ParameterSarah;
%case decision
if f_lag > 0 % decision braking or driving mode
fun =@(x) (A/SOC_1)*(x(1))^2+(A/SOC_2)*(x(2))^2+(A/SOC_3)*(x(3))^2+(A/SOC_4)*(x(4))^2+d_delay_1-(SW_1+x(5))+d_delay_2-(SW_2+x(6))+d_delay_3-(SW_3+x(7))+d_delay_4-(SW_4+x(8));
else
fun =@(x) ((B*M_reg_1)/SOC_1)*(1/(x(1))^2)+((B*M_reg_2)/SOC_2)*(1/(x(2))^2)+((B*M_reg_3)/SOC_3)*(1/(x(3))^2)+((B*M_reg_4)/SOC_4)*(1/(x(4))^2)+d_delay_1-(SW_1+x(5))+d_delay_2-(SW_2+x(6))+d_delay_3-(SW_3+x(7))+d_delay_4-(SW_4+x(8));
end
%objektive function
x0 = [150,150,150,150,3,3,3,3];
A = [];
b = [];
Aeq = [0 0 0 0 1 0 0 0; 0 0 0 0 0 1 0 0; 0 0 0 0 0 0 1 0; 0 0 0 0 0 0 0 1; 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0; cos(d_1) cos(d_2) cos(d_3) cos(d_4) sin(d_1)*c_w sin(d_2) sin(d_3)*c_w sin(d_4)*c_w; sin(d_1) sin(d_2) sin(d_3) sin(d_4) cos(d_1)*c_w cos(d_2)*c_w cos(d_3)*c_w cos(d_4)*c_w; (cos(d_1)*w_vl-l_v*sin(d_1)) (-cos(d_2)*w_vr+sin(d_2)*l_v) (cos(d_3)*w_hl+l_h*sin(d_3)) (-cos(d_4)*w_hr+sin(d_4)*l_h) (sin(d_1)*c_w*w_vl+cos(d_1)*c_w*l_v) (sin(d_2)*c_w*w_vr+cos(d_2)*c_w*l_v) (-sin(d_3)*c_w*w_hl-cos(d_3)*c_w*l_h) (cos(d_4)*c_w*l_h+sin(d_4)*c_w*w_hl)];
SOC_dif1=SOC_1-(SOC_1+SOC_2+SOC_3+SOC_4);
SOC_dif2=SOC_2-(SOC_1+SOC_2+SOC_3+SOC_4);
SOC_dif3=SOC_3-(SOC_1+SOC_2+SOC_3+SOC_4);
SOC_dif4=SOC_4-(SOC_1+SOC_2+SOC_3+SOC_4);
if f_lag==1
if (SOC_dif1 < 0.15) % state of charge of one actor is really low, actor is only used for steering %during driving mode
%SOC_krit = 0.15
Aeq(6,1) = 1;
end
if (SOC_dif2 < 0.15) % state of charge of one actor is really low, actor is only used for steering %during driving mode
Aeq(6,2) = 1;
end
if (SOC_dif3 < 0.15) % state of charge of one actor is really low, actor is only used for steering %during driving mode
Aeq(6,3) = 1;
end
if (SOC_dif4 < 0.15) % state of charge of one actor is really low, actor is only used for steering %during driving mode
Aeq(6,4) = 1;
end
end
% active stimulation for beta
%if k = 1 there is a stimulation
% k, j and n are Inputs, j and n are the actors stimulated
if k == 1
(Aeq(5,j) == 1) && (Aeq(5,n) == -1) && (beq(5) == delta_TaA); % target moduls % delta torque
end
beq = [d_1-SW_1, d_2-SW_2, d_3-SW_3, d_4-SW_4, 0, 0, Fx_v, Fy_v, Mz_v];
%ceq =[Fy_v-sin(d_1)*x(1)-cos(d_1)*x(5)*c_w+sin(d_2)*x(2)-cos(d_2)*x(6)*c_w+sin(d_3)*x(3)-cos(d_3)*x(7)*c_w+sin(d_4)*x(4)-cos(d_4)*x(8)*c_w; Mz_v-(-w_vl)*(cos(d_1)*x(1)-sin(d_1)*x(5)*c_w)+w_vr*(cos(d_2)*x(2)-sin(d_2)*x(6)*c_w)-w_hl*(cos(d_3)*x(3)-sin(d_3)*x(7)*c_w)+w_hr*(cos(d_4)*x(4)-sin(d_4)*x(8)*c_w)+l_v*(sin(d_1)*x(1)-cos(d_1)*x(5)*c_w+sin(d_2)*x(2)-cos(d_2)*x(6)*c_w)-l_h*(sin(d_3)*x(3)-cos(d_3)*x(7)*c_w+sin(d_4)*x(4)*c_w-cos(d_4)*x(8)*c_w); Fx_v-(x(1)/cos(d_1))-c_w*sin(d_1)*x(5)+(x(2)/cos(d_2))-c_w*sin(d_2)*x(6)+(x(3)/cos(d_3))-c_w*sin(d_3)*x(7)+(x(4)/cos(d_4))-c_w*sin(d_4)*x(8)];
%case decision braking or driving backwards (decision input: flag=0 oder 1)
%braking mode
if flag > 0 %if it is possible the regenerative braking torque is the limit
if (Fx_v-sum(Fx(i),(1:4)) == 0) && (Fy_v-sum(Fy(i),(1:4)) == 0) && (Mz_v-sum(Mz(i),(1:4)) == 0) %if it is not possible to follow the target trajectory the maximum of the manual braking is used
% max. regenerative braking torque
lb = [-M_reg_1/r_dyn_1, -M_reg_2/r_dyn_2, -M_reg_3/r_dyn_3, -M_reg_4/r_dyn_4, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4]; %d and betato the left side are positive, to the right side are negative %regenerative braking torque must be positive
% mechanical braking
else
lb = [FxB_max, FxB_max, FxB_max, FxB_max, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4]; %d and betato the left side are positive, to the right side are negative %FxB_max is negative
end % close conditions for braking loop, max braking torque is positive
%driving mode
else
lb = [P_min_1, P_min_2, P_min_3, P_min_4, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4];
end
ub = [P_max_1/(r_dyn_1*w_1), P_max_2/(r_dyn_2*w_2), P_max_3/(r_dyn_3*w_3), P_max_4/(r_dyn_4*w_4), d_max_vl-SW_1, d_max_vr-SW_2, d_max_hl-SW_3, d_max_hr-SW_4];
nlcon = @nonlnconstraints;
options = optimoptions(@fmincon, 'MaxFunctionEvaluations',10.000000e+03);
x = fmincon(fun,x0,A,b,Aeq,beq,lb,ub,nlcon,options);
end
The optimization before was working, but now I dont get any outputs.
Do I have to add anything for the outputs?
I want to get all 8 variables of the output vector x
Thank you very much for your held.
1 个评论
Sindar
2020-1-20
It looks like you are reading the input backwards, and would probably get errors because of it. If you want to pass parameters in 'u', and split them into 'Fx_v','Fy_v', etc., you need to do it this way:
function x = fcn(u)
%definition of vehicle forces and torque
Fx_v = u(1);
Fy_v = u(2);
Mz_v = u(3);
% ...
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