matlab错误使用 vertcat 要串联的数组的维度不一致

Question

我在matlab中错误使用 vertcat 要串联的数组的维度不一致.主程序和函数程序如下图,本程序要实现功能是解一个三元二阶微分方程,图一主程序图二三是函数,恳请帮忙解答

Answer 1

主程序：

clear;
clc;
close all;

aa = 0:0.01:2;
[t, y] = ode23(@MEqtion, aa, [0, 0, 0, 0, 0, 0]);

subplot(3, 1, 1);
plot(t, y(:, 1));
title('theta1 vs t');
grid minor;

subplot(3, 1, 2);
plot(t, y(:, 2));
title('theta2 vs t');
grid minor;

subplot(3, 1, 3);
plot(t, y(:, 3));
title('theta3 vs t');
grid minor;

 

函数：

ffunction dy = MEqtion(t,y)
    % global parameters (if needed)

    dy = zeros(6,1);

    theta1 = y(1);
    dtheta1 = y(2);
    theta2 = y(3);
    dtheta2 = y(4);
    theta3 = y(5);
    dtheta3 = y(6);

    % Assuming parameters are given here
    r2 = 0.05644;
    r3 = 0.17355;
    I1 = 0.012431535;
    I2 = 0.015071; 
    I3 = 1.228469;
    km = 6.8e8;
    cm = 46.996;
    i1 = 4;
    b = 2.5e-4;


% 其他未定义的变量我这里为了使函数可以运行，先假设为1
T0 = 1;
Tm = 1;
TL = 1;


    % Calculation
    xx = r2 * theta2 - r3 * theta3;
    dxx = dtheta2 - dtheta3;

    if xx - b > 0
        fx = xx - b;
    elseif xx + b < 0
        fx = xx+b;
    else
        fx = 0;
    end

    F23 = km * fx + cm * dxx;
    T21 = T0 * sin(theta1 - i1 * theta2);  % You need to define T0 

    dy1 = (Tm - T21/i1) / I1;  % You need to define Tm
    dy2 = (T21 - r2 * F23) / I2;
    dy3 = (-TL + r3 * F23) / I3; % You need to define TL 

    dy = [dtheta1; dy1; dtheta2; dy2; dtheta3; dy3];
end