why I am getting error while tuning using control system tuner

2020 7 20
1 个回答
回答已采纳
更新时间：2020 10 7
128 次查看（30 天）

0 个投票

While I am trying to select signals for quick loop tuning, I am getting on this error repeatedly. I don't fully understand how can t can be negative during simulatiion and error raised by the above image. Can anyone please explain

2 个评论
显示 无 隐藏 无

Siddharth Jawahar
Siddharth Jawahar 2020-8-20
Can you put in reproduction steps and the files used Shravista?
Best,
Sid
Shravista Kashyap
Shravista Kashyap 2020-8-20
After opening the control system tuner app, I have selected the gain blocks to tune and then I have selected the the actuator signals to motor as input, then after compiling I start getting this error. The simulink diagram can be seen at below links
https://photos.app.goo.gl/XaN4JKeXezBw9fJd9
The actual input the control block shown in the diagram( see the above link) is from a matlab function block called minJerkTraj. The code is as shown below. Also I have used the blocks Matlab System blocks and simscape models imported using robotics toolbox.
function [Acc,X,Vel] = minJerkTraj(boundary_cond,t)
% boundary_ cond is nX6 array of pos and euler angles
% boundary_cond = [x,y,z,alpha,beta,gamma]
% t is time inputs provided by simulink clock block
% it calculates the minimum jerk trajectory for given boundar conditions without any
% restrictions on velocity at waypoints except for maintaining the continuity at waypoints
% Acc = Accelaration 6X1 vector (Acc = [angular_accelaration; accelaration])
% X = trajectory points(6X1 (X = [euler angles;pos])
% Vel = Velocity 6X1 vector 6X1 (Vel = [omega;velocity])
D = @(t) [1, t, t^2, t^3, t^4, t^5
0, 1, 2*t, 3*t^2, 4*t^3, 5*t^4
0, 0, 2, 6*t, 12*t^2, 20*t^3
0, 0, 0, 6, 24*t, 60*t^2];
T = timeVariation(boundary_cond); % fuction that calculates the time vector nX1
eulAng_b = boundary_cond(:,4:6);
quat_b = quaternion(eulAng_b,'euler','ZYZ','frame');
logi = zeros(length(T),1); % logical index stating for in which ranges of time it comes the waypoints come in i.e.[T(i),T(i+1)]
for i = 1:length(T)
logi(i) = t<=T(i);
end
if sum(logi) == length(T)
j1 = 1;
else
j1 = length(T)-sum(logi);
end
[quat,omega,alpha] = rottraj(quat_b(j1),quat_b(j1+1),T(j1:j1+1),t);
eulerAng = euler(quat,'ZYZ','frame');
boundary_cond = boundary_cond(:,1:3);
% this function generates the coefficients required to calculate the fifth degree polynomial in time
C = trajGen(boundary_cond,T);
% no of time range possibel i.e. if size of T is 4 then [T1,T2],[T2,T3],[T3,T4]
m1 = size(boundary_cond,1)-1;
% calculates the index to fetch the coefficients from the matrix C
cIndex = 1:m1;
ci = cIndex(m1-sum(t<=T(2:end))+1);
temp = D(t)*C(6*ci-5:6*ci,:);
X = [eulerAng(:);temp(1,:)'];
Vel = [omega(:);temp(2,:)'];
Acc = [alpha(:);temp(3,:)'];
end

请先登录，再进行评论。

请先登录，再回答此问题。

 采纳的回答

Arkadiy Turevskiy
Arkadiy Turevskiy 2020-10-7

1 个投票

We won't be able to provide a better answer without access to your model and a function. Can you please contact tech support?

2 个评论
显示 无 隐藏 无

Shravista Kashyap
Shravista Kashyap 2020-10-7
Can I share my models and functions I have used to built it here. I have little confusion since, I used urdf files which require them to be in specific directory. So, how to share it with you people. In case I cannot share it here, how to contact tech support
Arkadiy Turevskiy
Arkadiy Turevskiy 2020-10-7
https://www.mathworks.com/support/contact_us.html

请先登录，再进行评论。

更多回答（0 个）

类别

在 帮助中心 和 File Exchange 中查找有关 Tuning, Analysis, and Validation 的更多信息

产品

版本

R2020a

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by