size mismatch in matlab function block
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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);
采纳的回答
Fangjun Jiang
2020-10-28
编辑：Fangjun Jiang
2020-10-28
0 个投票
[1 2]*[2 2; 2 2] is correct.
[1 2].*[2 2; 2 2] is wrong (without implicit expansion)
3 个评论
chuyen hoangcao
2020-10-28
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
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