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how i can solve the infinit loop

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tasneem bawaneh
tasneem bawaneh 2021-1-1
评论： tasneem bawaneh 2021-1-1
when i try to run this code it go to infint loop how i can fix it
clc; clear
% Set stopping tolerance
eps=0.0001;
syms X1 X2 X3 X4 X5 X6 X7 U1 U2
g1=( 6.25-5*cos(-X1)+15*sin(-X1)-1.24*cos(-X2)+3.75*sin(-X2))-X7;
g2=(10.83-5*cos(X1)+15*sin(X1)-1.6667*cos(X1-X2)+5*sin(X1-X2)-1.6667*X5*cos(X1-X3)+...
5*X5*sin(X1-X3)-2.5*X6*cos(X1-X4)+7.5*X6*sin(X1-X4))-0.68674+0.2;
g3=(12.916-1.25*cos(X2)+3.75*sin(X2)-1.6667*cos(X2-X1)+5*sin(X2-X1)-...
10*X5*cos(X2-X3)+30*X5*sin(X2-X3))-0.52151+0.45;
g4=(-1.6667*X5*cos(X3-X1)+5*X5*sin(X3-X1)-10*X5*cos(X3-X2)+30*X5*sin(X3-X2)+...
12.916*X5^2-1.25*X6*X5*cos(X3-X4)+3.75*X6*X5*sin(X3-X4))+0.4;
g5=(-2.5*X6*cos(X4-X1)+7.5*X6*sin(X4-X1)-1.25*X6*X5*cos(X4-X3)+...
3.75*X6*X5*sin(X4-X3)+3.75*X6^2)+0.6;
g6=(-5*X5*cos(X3-X1)-1.6667*X5*sin(X3-X1)-30*X5*cos(X3-X2)-10*X5*sin(X3-X2)+38.75*X5^2-...
3.75*X6*X5*cos(X3-X4)-1.25*X6*X5*sin(X3-X4))+0.05;
g7=(-7.5*X6*cos(X4-X2)-2.5*X6*sin(X4-X2)-3.75*X6*X5*cos(X4-X4)-1.25*X6*X5*sin(X4-X3)+...
11.25*X6^2)+0.1;
J1=diff(g1,X1);
J2=diff(g1,X2);
J3=diff(g1,X3);
J4=diff(g1,X4);
J5=diff(g1,X5);
J6=diff(g1,X6);
J7=diff(g1,X7);
J8=diff(g2,X1);
J9=diff(g2,X2);
J10= diff(g2,X3);
J11=diff(g2,X4);
J12=diff(g2,X5);
J13=diff(g2,X6);
J14=diff(g2,X7);
J15= diff(g3,X1);
J16=diff(g3,X2);
J17=diff(g3,X3);
J18=diff(g3,X4);
J19=diff(g3,X5);
J20=diff(g3,X6);
J21=diff(g3,X7);
J22= diff(g4,X1);
J23=diff(g4,X2);
J24=diff(g4,X3);
J25=diff(g4,X4);
J26=diff(g4,X5);
J27=diff(g4,X6);
J28=diff(g4,X7);
J29= diff(g5,X1);
J30=diff(g5,X2);
J31=diff(g5,X3);
J32=diff(g5,X4);
J33=diff(g5,X5);
J34=diff(g5,X6);
J35=diff(g5,X7);
J36= diff(g6,X1);
J37=diff(g6,X2);
J38=diff(g6,X3);
J39=diff(g6,X4);
J40=diff(g6,X5);
J41=diff(g6,X6);
J42=diff(g6,X7);
J43=diff(g7,X1);
J44=diff(g7,X2);
J45=diff(g7,X3);
J46=diff(g7,X4);
J47=diff(g7,X5);
J48=diff(g7,X6);
J49=diff(g7,X7);
J=[J1 J2 J3 J4 J5 J6 J7;
J8 J9 J10 J11 J12 J13 J14;
J15 J16 J17 J18 J19 J20 J21;
J22 J23 J24 J25 J26 J27 J28;
J29 J30 J31 J32 J33 J34 J35 ;
J36 J37 J38 J39 J40 J41 J42;
J43 J44 J45 J46 J47 J48 J49];
X1=0;X2=0;X3=0;X4=0;X5=1;X6=1;X7=0 ;U1=0.68674;U2=0.52151; delf=100;
while abs(delf) > eps
% Solve the power flow equations to get update on x1 and x2
J1=double(subs(J));
b1=double(subs(g1));
b2=double(subs(g2));
b3=double(subs(g3));
b4=double(subs(g4));
b5=double(subs(g5));
b6=double(subs(g6));
b7=double(subs(g7));
b=[b1;b2;b3;b4;b5;b6;b7];
maxb=max(b);
while maxb > 0.001
delx=-1*inv(J1)*b;
new=[X1;X2;X3;X4;X5;X6;X7]+delx
X1=new(1); X2=new(2);
X3=new(3); X4=new(4);
X5=new(5);
X6=new(6); X7=new(7);
b1=double(subs(g1));
b2=double(subs(g2));
b3=double(subs(g3));
b4=double(subs(g4));
b5=double(subs(g5));
b6=double(subs(g6));
b7=double(subs(g7));
b=[b1;b2;b3;b4;b5;b6;b7];
maxb=max(b);
end
% Compute Lambda
lam=-1*inv(J1')*[0;0;0;0;0;0;200+120*X7];
% Compute steepest ascent direction
delf1=150+150*U1+[0;-1;0;0;0;0;0]'*lam;
delf2=180+140*U2+[0;0;-1;0;0;0;0]'*lam;
% Compute the new value of the control
unew1=U1-0.004*delf1;
unew2=U2-0.004*delf2;
u=[unew1;unew2];
end
X1,X2,X3,X4,X5,X6,X7,U1,U2

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采纳的回答

Cris LaPierre
Cris LaPierre 2021-1-1
You get an infinite loop when the criteria for your while loop is always true. Here, I suspect the issue is that you never change the value of delf or eps. Since 100 is always > 0.0001, your outer while loop in infinite.

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