size mismatch in matlab function block

Question

chuyen hoangcao 2020-10-28

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/629423-size-mismatch-in-matlab-function-block

编辑： Walter Roberson 2020-10-29

122690894_1029842860775127_2603484905570689997_n.png

i dont know why there are some errors about size mismatch in my code, because as you can see, variable s has dimension is [1,2],Cl is [2,2] .Therefore i think the result will be [1,2] ,but it doesnt work.Please help me.

My code:

 function [Cl,gl,ds] = fcn(q1,q2,dq2,dq1, Tl,Th,de,e,s,t)
%Matrices of dynamic equation.
a = 1.024;b = 0.24;Ro = 0.16;
g = 9.8;
Ml = [a+2*b*cos(q2) Ro+b*cos(q2); Ro+b*cos(q2) Ro];
Cl = [-2*b*sin(q2)*dq2 -b*sin(q2)*dq2; b*sin(q2)*dq1 0];
gl = [2.5*g*Ro*cos(q1+q2)+1.67*0.864*cos(q1) 2.5*g*Ro*cos(q1+q2)];
lamda = 0.6; ep = 3;d =1.2;
theta = [0.99; 0.12];
wl = 0.3+0.2*sin(2*t)+0.3*sin(20*t) - 0.2*sin(10*t)+ 0.3*sin(21*t);
w0 = 0.2 + 0.3*sin(15*t);
% dieu kien cua w estimation
if norm(s) > ep
    Row = d*s./norm(s);
else 
    Row = d*s./ep;
end
we = w0 + Row;
% el(t) = -e(t);
Yl =( - de*Ml*lamda - e*Cl*lamda +gl); 
ds =(-de*Ml*lamda -s*Cl - Yl*theta -(2*we-wl)+Tl+Th).*inv(Ml);

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Answer 1

Fangjun Jiang 2020-10-28

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/629423-size-mismatch-in-matlab-function-block#answer_527098

编辑：Fangjun Jiang 2020-10-28

[1 2]*[2 2; 2 2] is correct.

[1 2].*[2 2; 2 2] is wrong (without implicit expansion)

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Fangjun Jiang 2020-10-28

take a particular set of values for all the input arguments, run the code line by line, stop at the line where the error occured, run indivudual section of that line of code if necessary, you will find where and what caused the error.

chuyen hoangcao 2020-10-29