Azzera filtri
Azzera filtri

Index exceeds number of array elements (1)?

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Riley Vargas
Riley Vargas il 6 Nov 2018
Spostato: DGM il 8 Gen 2024
dt = 0.005; N = 200; %(s)
P3s = 2; P3d = 23.5; %(mmHg)
V2(1) = .475; %(L)
V0 = .06; %(L)
C2 = 0.05; %(L/mmHg)
R1 = 30; R2 = 30; %(mmHg*s/L)
P1 = 11; %(mmHg)
P3(1:120) = P3s;
P3(121:200) = P3d;
t = 0:dt:(N-1)*dt;
plot(t, P3)
xlabel('Time (s)'), ylabel('Pressure (mmHg)')
for i = 1:N
P2(i) = (V2(i) - V0) / C2;
if P2(i) > P3(i); Q3(i) = (P2(i) - P3(i)) / R2;
else Q3(i) = 0;
end
Q1(i) = (P1 - P2(i)) / R1;
Q2(i) = Q1(i) - Q3(i);
P2(i+1) = P2(i) + Q2(i)*dt;
end
tp = 0:dt:N*dt;
figure
plot(tp, P2)
xlabel('Time (s)'), ylabel('P2 (mmHg)')
Error is in line 12 " P2(i) = (V2(i) - V0) / C2;"
What is strange about this problem is that the code runs perfectly on my computer, but when transferred to another and ran, it gives the error message. Any ideas?
  1 Commento
Mark Linne
Mark Linne il 30 Lug 2021
I have two nested loops:
for i=1:1:NJ
for f=1:1:NJ
Later in the script I need to do a for loop using:
for L=abs(i-f):1:(i+f)
For obvious reasons, the (i+f) generates the error under discussion. Is there a known way to work around this issue (written by a dinosaur who learned Fortran in 1970, still thinks that way, and would prefer to be able to set array sizes myself at the start of the code)?

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Risposta accettata

Aquatris
Aquatris il 6 Nov 2018
Modificato: Aquatris il 6 Nov 2018
You only define V2(1) in your code and do not increase the size of the V2 variable. So I think you are missing a code in your for loop which assigns values to V2(i+1).
It probably runs in your computer because your workspace includes a V2 variable with correct size from another script so the code does not yell at you.
  4 Commenti
parag gupta
parag gupta il 11 Mar 2019
how did u make the change?
Aquatris
Aquatris il 13 Mar 2019
In his code he never defined V2(2) so he added a line in his for loop, something like;
for i = 1:N
...
V2(i+1) = *equation*
end

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Più risposte (9)

sura naji
sura naji il 18 Feb 2020
clc
clear
close all
% Problem Statement
Npar = 17;
VarLow=0.1;
VarHigh = 35;
%BBBC parameters
N=50; %number of candidates
MaxIter=100; %number of iterations
% initialize a random value as best value
XBest = rand(1,Npar).* (VarHigh - VarLow) + VarLow;
FBest=fitnessFunc(XBest);
GB=FBest;
t = cputime;
%intialize solutions and memory
X = zeros(N, Npar);
F = zeros(N, 1);
for ii = 1:N
X(ii,:) = rand(1,Npar).* (VarHigh - VarLow) + VarLow;
% calculate the fitness of solutions
F(ii) = fitnessFunc(X(ii,:));
end
%Main Loop
for it=1:MaxIter
%Find the centre of mass
%-----------------------
%numerator term
num=zeros(1,Npar);
for ii=1:N
for jj=1:Npar
num(jj)=num(jj)+(X(ii,jj)/F(ii));
end
end
%denominator term
den=sum(1./F);
%centre of mass
Xc=num/den;
%generate new solutions
%----------------------
for ii=1:N
%new solution from centre of mass
for jj=2:Npar
New=X(ii,:);
New(jj)=Xc(jj)+((VarHigh(jj)*rand)/it^2);
end
%boundary constraints
New=limiter(New,VarHigh,VarLow);
%new fitness
newFit=fitnessFunc(New);
%check whether the solution is better than previous solution
if newFit<F(ii)
X(ii,:)=New;
F(ii)=newFit;
if F(ii)<FBest
XBest=X(ii,:);
FBest=F(ii);
end
end
end
% store the best value in each iteration
GB=[GB FBest];
end
%Main Loop
for it=1:MaxIter
%Find the centre of mass
%-----------------------
%numerator term
num=zeros(1,Npar);
for ii=1:N
for jj=1:Npar
num(jj)=num(jj)+(X(ii,jj)/F(ii));
end
end
%denominator term
den=sum(1./F);
%centre of mass
Xc=num/den;
%generate new solutions
%----------------------
for ii=1:N
%new solution from centre of mass
for jj=2:Npar
New=X(ii,:);
New(jj)=Xc(jj)+((VarHigh(jj)*rand)/it^2);
end
hi please can you help me because l have the same problem and the message related to [ New(jj)=Xc(jj)+((VarHigh(jj)*rand)/it^2);] [index exceeds number of array element(1)]?
  1 Commento
Aquatris
Aquatris il 31 Mag 2020
Modificato: Aquatris il 31 Mag 2020
VarHigh variable is a scalar not vector since you only defined it with "VarHigh = 35;" line.
And in the part that gives you the error, you are trying to reach "VarHigh(2)" which does not exist.

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BAMIDELE JEGEDE
BAMIDELE JEGEDE il 31 Mag 2020
Modificato: Walter Roberson il 4 Giu 2021
I have the issue with my code
clear, clc
x = 0:0.01:pi
y = myfunc(x)
plot(x,y)
avg_y = y(1:length(x)-1) + diff(y)/2;
A = sum(diff(x).*avg_yin )
at
avg_y = y(1:length(x)-1) + diff(y)/2;
I honestly don't know what I am doing wrong and it's becoming frustrating
  3 Commenti
Farshid R
Farshid R il 22 Dic 2020
Modificato: Farshid R il 22 Dic 2020
Hi
Good time
I wrote this code but it gives an error
Please help me
thank you
n=100;
u1=[0,0]';
X1=[-4,-2,0]';
% p=data.PredictionHorizon;
a=0.9;h=0.9;
cp1=1;cp2=1;cp3=1;
% c1=0;c2=0;c3=0;
for j=1:n
c1(j)=(1-(1+a)/j)*cp1;
c2(j)=(1-(1+a)/j)*cp2;
c3(j)=(1-(1+a)/j)*cp3;
cp1=c1(j); cp2=c2(j); cp3=c3(j);
end
% initial conditions setting:
v1(1)=u1(1);
w1(1)=u1(2);
x1(1)=X1(1); y1(1)=X1(2); z1(1)=X1(3);
% calculation of phase portraits /numerical solution/:
for i=2:n
x1(i)=h*cos(z1(i-1))*v1(i-1) - memo(x1, c1, i);
y1(i)=h*sin(z1(i-1))*v1(i-1)-memo(y1, c2, i);
z1(i)=h*w1(i-1)-memo(z1, c3, i) ;
end
%%
function [yo] = memo(r, c, k)
%
temp = 0;
for j=1:k-1
temp = temp + c(j)*r(k-j);
end
yo = temp;
%
%%%%% error
Index exceeds the number of array elements (1).
Error in exocstrstateFcnCT1 (line 28)
x1(i)=h*cos(z1(i-1))*v1(i-1) - memo(x1, c1, i);
Walter Roberson
Walter Roberson il 12 Feb 2021
v1(1)=u1(1);
You initialize one v1 value
for i=2:n
x1(i)=h*cos(z1(i-1))*v1(i-1) - memo(x1, c1, i);
When i = 3, you access v1(3-1) -> v1(2) . But that does not exist.
y1(i)=h*sin(z1(i-1))*v1(i-1)-memo(y1, c2, i);
z1(i)=h*w1(i-1)-memo(z1, c3, i) ;
end
You keep extending x1 and y1 and z1 in that loop, but you do not extend v1 or w1

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Sara Babaie
Sara Babaie il 12 Feb 2021
I need some help with my code...I am getting the same error:
format long
ep=0.8; %Radiative emissivity of the pipe surface
stfb=5.67e-08; %Stefan-Boltzmann constant
q=500; %heat rate
tair=270; %air temperature
tsurr=270; %surrounding temperature
h=10; %convective heat coefficient
d=0.1; %diameter of the pipe
L=0.5; %length of pipe
p=pi;
ft=@(t84)q-(p*d*L(h*(t84-tair)+(ep*stfb(t84^4-tsurr^4))))
a=ft(334)
  3 Commenti
Farshid R
Farshid R il 12 Feb 2021
This error is related to the dimensions and the number of elements is more.
Walter Roberson
Walter Roberson il 12 Feb 2021
In this case, Sara's error is in forgetting a multiplication symbol. stfb*(t84^4-tsurr^4)

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Simon Hudon-Labonté
Simon Hudon-Labonté il 9 Mar 2021
function [xsol]=NewtonRaphson(Fon,DerFon,SolEst,Erreur,jmax)
iflag=0;
for j=1:jmax
xsoli=SolEst-(Fon(SolEst)/DerFon(SolEst));
if abs((xsoli-SolEst)/SolEst)<Erreur
xsol=xsoli;
iflag=1;
break
end
SolEst=xsoli;
end
if j==jmax && iflag~=1
fprintf('Aucune solution après %i itérations.\n',jmax)
xsol=('Aucune réponse');
end
Hello i am getting the same error as the others in the comment but even with the different answers I cannot find my error. Thank you!
Simon
  4 Commenti
Binyam Sime
Binyam Sime il 3 Giu 2021
Hello!!
I need some little correction (If any) for the code blow!
If any one help me, i have a greate gratittude!!!!!
A = imread('C:\Users\pc_2\Desktop\bs\Im_one.jpg');
r=size(A,1);
c=size(A,2);
A=double(A);
ah= uint8(zeros(r,c));
n=r*c;
f=zeros(256,1);
pdf=zeros(256,1);
cdf=zeros(256,1);
cum=zeros(256,1);
out=zeros(256,1);
for i=1:r
for j=1:c
value =A(i,j);
f(value+1)=f(value+1)+1;
pdf(value+1) =f(value+1)/n;
end
end
sum=0;L=255;
for i=1:size(pdf)
sum =sum +freq(i);
cum(i)=sum;
cdf(i)=cum(i)/n;
out(i) =round(cdf(i)*L);
end
for i=1:r
for j=1:c
ah(i,j)= out(A(i,j)+1);
end
end
figure,imshow(ah);
he= histeq(A);
figure,imshow(he);
when run it says as follws:-
Index exceeds the number of array elements (1).
Thank you for your help!
Walter Roberson
Walter Roberson il 3 Giu 2021
sum =sum +freq(i);
You do not define freq() in the code.

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Wu Changjin Wu
Wu Changjin Wu il 4 Giu 2021
can some one help me, I got the same error !
% Read in image.
grayImage = imread('FFT.JPG');
[rows, columns, numberOfColorChannels] = size(grayImage)
if numberOfColorChannels > 1
grayImage = rgb2gray(grayImage);
end
% Display original grayscale image.
subplot(2, 3, 1);
imshow(grayImage)
axis on;
title('Original Gray Scale Image', 'FontSize', fontSize)
% Enlarge figure to full screen.
set(gcf, 'units','normalized','outerposition',[0 0 1 1]);
% Perform 2D FFTs
fftOriginal = fft2(double(grayImage));
% Move center from (1,1) to (129, 129) (the middle of the matrix).
shiftedFFT = fftshift(fftOriginal);
subplot(2, 3, 2);
scaledFFTr = 255 * mat2gray(real(shiftedFFT));
imshow(log(scaledFFTr), []);
title('Log of Real Part of Spectrum', 'FontSize', fontSize)
subplot(2, 3, 3);
scaledFFTi = mat2gray(imag(shiftedFFT));
imshow(log(scaledFFTi), []);
axis on;
title('Log of Imaginary Part of Spectrum', 'FontSize', fontSize)
% Display magnitude and phase of 2D FFTs
subplot(2, 3, 4);
shiftedFFTMagnitude = abs(shiftedFFT);
imshow(log(abs(shiftedFFTMagnitude)),[]);
axis on;
colormap gray
title('Log Magnitude of Spectrum', 'FontSize', fontSize)
% Get average
midRow = rows/2+1
midCol = columns/2+1
maxRadius = ceil(sqrt(129^2 + 129^2))
radialProfile = zeros(maxRadius, 1);
count = zeros(maxRadius, 1);
for col = 1 : columns
for row = 1 : rows
radius = sqrt((row - midRow) ^ 2 + (col - midCol) ^ 2);
thisIndex = ceil(radius) + 1;
radialProfile(thisIndex) = radialProfile(thisIndex) + shiftedFFTMagnitude(row, col);
count(thisIndex) = count(thisIndex) + 1;
end
end
radialProfile = radialProfile./ count;
subplot(2, 3, 5:6);
plot(radialProfile, 'b-', 'LineWidth', 2);
grid on;
title('Average Radial Profile of Spectrum', 'FontSize', fontSize)
  1 Commento
Walter Roberson
Walter Roberson il 4 Giu 2021
fontSize = 12;
% Read in image.
filename = 'FFT.JPG';
if isunix()
filename = 'flamingos.jpg';
end
grayImage = imread(filename);
[rows, columns, numberOfColorChannels] = size(grayImage);
if numberOfColorChannels > 1
grayImage = rgb2gray(grayImage);
end
% Display original grayscale image.
subplot(2, 3, 1);
imshow(grayImage)
axis on;
title('Original Gray Scale Image', 'FontSize', fontSize)
% Enlarge figure to full screen.
set(gcf, 'units','normalized','outerposition',[0 0 1 1]);
% Perform 2D FFTs
fftOriginal = fft2(double(grayImage));
% Move center from (1,1) to (129, 129) (the middle of the matrix).
shiftedFFT = fftshift(fftOriginal);
subplot(2, 3, 2);
scaledFFTr = 255 * mat2gray(real(shiftedFFT));
imshow(log(scaledFFTr), []);
title('Log of Real Part of Spectrum', 'FontSize', fontSize)
subplot(2, 3, 3);
scaledFFTi = mat2gray(imag(shiftedFFT));
imshow(log(scaledFFTi), []);
axis on;
title('Log of Imaginary Part of Spectrum', 'FontSize', fontSize)
% Display magnitude and phase of 2D FFTs
subplot(2, 3, 4);
shiftedFFTMagnitude = abs(shiftedFFT);
imshow(log(abs(shiftedFFTMagnitude)),[]);
axis on;
colormap gray
title('Log Magnitude of Spectrum', 'FontSize', fontSize)
% Get average
midRow = rows/2+1;
midCol = columns/2+1;
%maxRadius = ceil(sqrt(129^2 + 129^2))
maxRadius = ceil(sqrt(midRow.^2 + midCol.^2));
radialProfile = zeros(maxRadius, 1);
count = zeros(maxRadius, 1);
for col = 1 : columns
for row = 1 : rows
radius = sqrt((row - midRow) ^ 2 + (col - midCol) ^ 2);
thisIndex = ceil(radius) + 1;
radialProfile(thisIndex) = radialProfile(thisIndex) + shiftedFFTMagnitude(row, col);
count(thisIndex) = count(thisIndex) + 1;
end
end
radialProfile = radialProfile./ count;
subplot(2, 3, 5:6);
plot(radialProfile, 'b-', 'LineWidth', 2);
grid on;
title('Average Radial Profile of Spectrum', 'FontSize', fontSize)

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ELIZABETH ESPARZA
ELIZABETH ESPARZA il 5 Giu 2021
Hi, i have the same error, i need help :(
clear all
%incremento en x
h=0.1;
%funcion 1
f = @(t,a,b,u,v,w) -5*a*u+2*a-4*b;
%funcion 2
g = @(t,a,b,u,v,w) -a*b*v-a+6*b;
%funcion 3
d = @(t,a,b,u,v,w) b*w-a;
%Condiciones Iniciales
ti = 0;
ai = 0;
bi = 0;
ui = 0;
vi = 0;
wi = 00;
%Iteraciones
n = 5;
%Función
[t,a,b,u,v,w] =RungeFG3(f,g,d,n,h,ti,ai,bi,ui,vi,wi)
%Graficación
plot3(t,a,b);grid on;
legend('Runge K4')
title('Gráfica')
xlabel('t')
ylabel('a')
zlabel('b')
tabla1= table (t',a',b');
tabla1.Properties.VariableNames = {'t','a','b'}
function [t,a,b,u,v,w] =RungeFG3(f,g,d,n,h,t0,a0,b0,u0,v0,w0)
t(1) = t0;
a(1) = a0;
b(1) = b0;
u(1) = u0;
v(1) = v0;
w(1) = w0;
for i=1:1:n
t(i+1) = t(i) + h;
k1 = h*f(t(i),a(i),b(i),u(i),v(i),w(i));
l1 = h*g(t(i),a(i),b(i),u(i),v(i),w(i));
e1 = h*d(t(i),a(i),b(i),u(i),v(i),w(i));
m1 = h*u(i);
n1 = h*v(i);
p1 = h*w(i);
k2 = h*f(t(i)+h/2,a(i)+m1/2,b(i)+n1/2,u(1)+k1/2,v(i)+l1/2,w(i)+l1/2);
l2 = h*g(t(i)+h/2,a(i)+m1/2,b(i)+n1/2,u(1)+k1/2,v(i)+l1/2,w(i)+l1/2);
e2 = h*d(t(i)+h/2,a(i)+m1/2,b(i)m2 = h*(u(i)+k1/2);
n2 = h*(v(i)+l1/2);
p2 = h*(w(i)+p1/2);
k3 = h*f(t(i)+h/2,a(i)+m2/2,b(i)+n2/2,u(1)+k2/2,v(i)+l2/2,w(i)+l2/2);
l3 = h*g(t(i)+h/2,a(i)+m2/2,b(i)+n2/2,u(1)+k2/2,v(i)+l2/2,w(i)+l2/2);
e3 = h*d(t(i)+h/2,a(i)+m2/2,b(i)+n2/2,u(1)+k2/2,v(i)+l2/2,w(i)+l2/2);
m3 = h*(u(i)+k2/2);
n3 = h*(v(i)+l2/2);
p3 = h*(w(i)+p2/2);
k4 = h*f(t(i)+h,a(i)+m3,b(i)+n3,u(1)+k3,v(i)+l3,w(i)+l3);
l4 = h*g(t(i)+h,a(i)+m3,b(i)+n3,u(1)+k3,v(i)+l3,w(i)+l3);
e4 = h*d(t(i)+h,a(i)+m3,b(i)+n3,u(1)+k3,v(i)+l3,w(i)+l3);
m4 = h*(u(i)+k3);
n4 = h*(v(i)+l3);
p4 = h*(w(i)+p3);
u(i+1) = u(i)+(k1+2*k2+2*k3+k4)/6;
v(i+1) = v(i)+(l1+2*l2+2*l3+l4)/6;
p(i+1) = w(i)+(p1+2*p2+2*p3+p4)/6;+n1/2,u(1)+k1/2,v(i)+l1/2,w(i)+l1/2);
a(i+1) = a(i)+(m1+2*m2+2*m3+m4)/6;
b(i+1) = b(i)+(n1+2*n2+2*n3+n4)/6;
end
end
  5 Commenti
ELIZABETH ESPARZA
ELIZABETH ESPARZA il 5 Giu 2021
oh well, but the mistake is in line 58
Aquatris
Aquatris il 6 Giu 2021
That index problem happens because of variable w. You never assigned values to w(i+1) in your code.

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emre bahçeci
emre bahçeci il 15 Giu 2021
Hello,i am trying to face same error.Here is my code:
T=1.5
t=0:0.001:T
m=1;b=10;k=100;
K=[1 0 0 0 0 0;
0 1 0 0 0 0;
0 0 2 0 0 0;
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]
A=inv(K)*[pi/3;0;0;5*pi/3;0;0]
syms theta(x)
theta_dot=diff(theta,x)
theta_dot_dot=diff(theta_dot,x)
Q=m*theta_dot_dot+b*theta_dot+k*theta
for i=1:length(t)
teta(i)=A(1)+A(2)*t(i)+A(3)*t(i)^2+A(4)*t(i)^3+A(5)*t(i)^4+A(6)*t(i)^5
tetah(i)=A(2)+2*A(3)*t(i)+3*A(4)*t(i)^2+4*A(5)*t(i)^3+5*A(6)*t(i)^4
tetai(i)=2*A(3)+6*A(4)*t(i)+12*A(5)*t(i)^2+20*A(6)*t(i)^3
Q_new(i)=subs(Q,[theta_dot_dot theta_dot theta],[tetai tetah teta])
end
After that i have encountered same error:
Index exceeds the number of array elements (1).
Error in sym/subs>normalize (line 212)
Y{i} = fun2sym(Y{i},argnames(X{i}));
Error in sym/subs>mupadsubs (line 166)
[X2,Y2,symX,symY] = normalize(X,Y); %#ok
Error in sym/subs (line 154)
G = mupadsubs(F,X,Y);
Error in symbolic_in_for_loop (line 19)
Q_new(i)=subs(Q,[theta_dot_dot theta_dot theta],[tetai tetah teta])
Can anybody help me?
Thanks
  2 Commenti
Walter Roberson
Walter Roberson il 15 Giu 2021
I had to make T smaller for demonstration purposes
format long g
T=.015;
t=0:0.001:T;
m=1;b=10;k=100;
K=[1 0 0 0 0 0;
0 1 0 0 0 0;
0 0 2 0 0 0;
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]
K = 6×6
1 0 0 0 0 0 0 1 0 0 0 0 0 0 2 0 0 0 1 0.015 0.000225 3.375e-06 5.0625e-08 7.59375e-10 0 1 0.03 0.000675 1.35e-05 2.53125e-07 0 0 2 0.09 0.0027 6.75e-05
A=inv(K)*[pi/3;0;0;5*pi/3;0;0]
A = 6×1
1.0471975511966 0 0 12411230.2364042 -1241123023.64042 33096613963.7446
syms theta(x)
theta_dot=diff(theta,x)
theta_dot(x) = 
theta_dot_dot=diff(theta_dot,x)
theta_dot_dot(x) = 
Q=m*theta_dot_dot+b*theta_dot+k*theta
Q(x) = 
for i=1:length(t)
teta(i)=A(1)+A(2)*t(i)+A(3)*t(i)^2+A(4)*t(i)^3+A(5)*t(i)^4+A(6)*t(i)^5;
tetah(i)=A(2)+2*A(3)*t(i)+3*A(4)*t(i)^2+4*A(5)*t(i)^3+5*A(6)*t(i)^4;
tetai(i)=2*A(3)+6*A(4)*t(i)+12*A(5)*t(i)^2+20*A(6)*t(i)^3;
Q_new(i,1)=subs(Q(x),{theta_dot_dot theta_dot theta},{tetai(i) tetah(i) teta(i)});
end
Q_new
Q_new = 

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Anastasiya Moiseeva
Anastasiya Moiseeva il 23 Mar 2023
Modificato: Anastasiya Moiseeva il 23 Mar 2023
Please, can someone help me?
I got the same error in my m-file
Error in file (line 16)
yp = simout(b)
% Data
u1 = 40;
u2 = 60;
u = 50;
y1 = 0;
y2 = 60;
y3 = 40;
mui1 = 0;
mui2 = 100;
time1 = 0;
%Calculate parameters
% inflection point
[a, b] = max(yout)
tp = tout(b)
% simout = round(simout) % rounding function
yp = simout(b)
% Time time2
d = find(simout==60)
time2 = tout(d)
% Time time3
e = find(simout==40)
time3 = tout(e)
%Square Sy2
u = -yout(e)
Sy2 = ((u1-y1)*(u1-y1))/u
%Square Sy1
Sy1 = ((sum(simout))*1.65) %/ it is necessary to change the scale in simout
Smui = (mui2-mui1)*(time2-time1)
%Find Коб
Kob = (Sy1+Sy2)/Smui
%Find b
b = (yp-y1)/(Kob*(mui2-mui1))
% Find x
if (b < 0.14)
c1 = 0.2604;
c2 = -0.07986;
c3 = -0.0203;
x = c2+c3/(b-c1)
elseif (0.14 <= b) && (b < 0.26)
c1 = 0.2993;
c2 = -0.1076;
c3 = -0.03128;
x = c2+c3/(b-c1)
else
x = 0.6881
end
% Find z
z = x^(x/(1-x))
% Find Tob
Tob = (Kob*(mui2-mui1))/a
% Find the parameters of the object model (time constants ... object models
Tmob2 = z*Tob
Tmob1 = x*Tmob2
taumob = tp-Tmob2*[-log(z)]
%Object Model Parameters
taumob = taumob;
Tmob1 = Tmob1;
Tmob2 = Tmob2;
Kmob = Kob;
M = 1.4;
%
%Values .......................Rrs.op....Frs.op.........
Rs.op = 1.4; %sqrt(b^2 + c^2) 1.3
Gs.op = -90; %atand(-c/b)
Fs.op = Gs.op*pi/180
Ws.op = Rs.op*exp(j*Fs.op)
%====-----------------------
Wrs.op = Ws.op/(1-Ws.op)
%====Wrs.o
%aa = real(Wrs.op)
%bb = imag(Wrs.op)
Rrs.op = abs(Wrs.op)
Frs.op = angle(Wrs.op)
%---------------------------------------
%Determination of the optimal values of the aprha parameters *****
n = Tmob2/Tmob1
beta = taumob/Tmob1
a01 = -4;
b01 = 0.38;
c01 = 0.2;
a16 = -3.714286;
b16 = 0.1817143;
c16 = 0.5576327;
az4 = -0.2613139;
bz4 = 0.2176277;
cz4 = 0.0677002;
y01 = b01 + (c01/(n-a01));
y16 = b16 + (c16/(n-a16));
z4 = bz4 + (cz4/(beta-az4));
bbb = -6.622517;
ccc = -2.5821192;
d4 = bbb*z4 -ccc;
d4 = bbb*z4 - ccc;
anpha = y01*(1-d4)+y16*d4
%Determination of optimal parameter values ТТi.op ****
a011 = -0.10738;
b011 = 1.25235;
c011 = 0.60646;
a161 = -2.20225;
b161 = 1.60899;
c161 = 8.93751;
az41 = -1.4;
bz41 = 4.7;
cz41 = -4.95;
bbb1 = 0.60606;
ccc1 = 0.84848;
y011 = b011 + (c011/(n-a011));
y161 = b161 + (c161/(n-a161));
z41 = bz41 + (cz41/(beta - az41));
d41 = bbb1*z41 - ccc1;
TTi.op = y011*(1-d41) + y161*d41
%----------------------------------------
Kf = 8;
a_Ti = 2*pi/TTi.op;
a_Td = a_Ti*anpha;
a_Tf = a_Td/Kf;
Wf_op = 1/((j*a_Tf + 1)*(j*a_Tf + 1));
Rf_op = abs(Wf_op)
Ff_op = angle(Wf_op)
Wr_op = 1 + (1/(j*a_Ti)) + j*a_Td*Wf_op;
Rr.op = abs(Wr_op)
Fr.op = angle(Wr_op)
Fob.op = Frs.op
% The optimal value of the dimensionless frequency is determined
x1 = 1.5;
Gx = beta*x1 + atan(x1) + atan(x1*n) + Fob.op;
GGx = beta + 1/(x1^2 +1) + n/((n^2)*(x1^2) +1);
finish = abs(Gx/GGx);
for i = 1:100
if (finish >= 0.01)
x1 = x1 - Gx/GGx;
Gx = beta*x1 + atan(x1) + atan(x1*n) + Fob.op;
GGx = beta + 1/(x1^2 +1) + n/((n^2)*(x1^2) +1);
finish = abs(Gx/GGx);
else
x0 = x1;
Om_op = x1
break
end
i = i+1;
end
Ks.op = (Rrs.op*sqrt((Om_op^2 + 1)*((Om_op^2)*n^2 + 1)))/Rr.op
Kr.op = Ks.op/Kmob
T0 = (Tmob1*2*pi)/Om_op;
Ti.op = T0/TTi.op
Td = Ti.op*anpha
%-Controller Parameters
Kp = Kr.op
Ki = Kp/Ti.op
Kd = Kp*Td
Tf = Td/Kf
%----------------------------------------
  1 Commento
Walter Roberson
Walter Roberson il 23 Mar 2023
simout is not defined in your code. If you assigned
simout = sim(SOME Simulink stuff)
then you probably configured Simulink to return "unified" output, which is a scalar struct with fields named after the variables being returned.

Accedi per commentare.


labtst
labtst il 3 Gen 2024
Index exceeds the number of
array elements (1).
Error in Trajectory/show (line
73)
carPositionOnCenterline =
obj.nearest_points(car_states(1),
car_states(2));
Error in Main (line 78)
myTrajectory.show(Lambo,
file_path)
>>
  5 Commenti
Walter Roberson
Walter Roberson il 3 Gen 2024
car_states = Car.state_unpack();
but state_unpack is defined as returning up to four parts, starting with x and then y.
You then proceed to index car_states, which is equivalent to indexing the returned x. Do we have solid reason to expect that the x will always have at least two components?
labtst
labtst il 7 Gen 2024
Spostato: DGM il 8 Gen 2024
bitte ich hätte gerne diesen PID-Regler für alle Stecke implimentieren und optimieren. können Sie mir bitte helfen?
classdef Car<handle
properties
% States of the Model
states; % [x,y,phi,velocity]
augmented_states;
control_inputs; %[steering_angle, acceleration]
% Geometry of the car
track=2057/1000; %meter
wheel_base=2665/1000; %meter
wheel_diameter=66.294/100;
wheel_width=25.908/100;
%Time step for the simulation
ts=0.05;
% Model limits
%steering_angle_limit = deg2rad(33.75);
steering_angle_limit = deg2rad(60.75);
max_velocity = 40.3488; % m/s
%max_velocity = 98.3488; % m/s
% PID Errors
old_cte;
cte_intergral;
last_smoothed_inputs = [0 0]
max_acceleration = 6.0;
end
methods
%% Constructor
function obj=Car(states,control_inputs)
% Check not to exceed the maximum velocity.
if (states(4) > obj.max_velocity)
states(4)= obj.max_velocity;
end
obj.states=states;
% Normalize the steering angle to be between -pi and +pi.
control_inputs(1) = atan2(sin(control_inputs(1)),cos(control_inputs(1)));
% Check that the steering angle is not exceeding the limit.
if (control_inputs(1) > obj.steering_angle_limit)
control_inputs(1) = obj.steering_angle_limit;
elseif (control_inputs(1) < -obj.steering_angle_limit)
control_inputs(1) = -obj.steering_angle_limit;
end
obj.control_inputs=control_inputs;
obj.old_cte = 0;
obj.cte_intergral = 0;
end
%% Plot My car
function show(obj)
%Plot the Body of the Car
pc1=[-obj.wheel_base/2;obj.track/2;1];
pc2=[obj.wheel_base/2;obj.track/2;1];
pc3=[obj.wheel_base/2;-obj.track/2;1];
pc4=[-obj.wheel_base/2;-obj.track/2;1];
pc=[pc1 pc2 pc3 pc4];
pw1=[-obj.wheel_diameter/2;obj.wheel_width/2;1];
pw2=[obj.wheel_diameter/2;obj.wheel_width/2;1];
pw3=[obj.wheel_diameter/2;-obj.wheel_width/2;1];
pw4=[-obj.wheel_diameter/2;-obj.wheel_width/2;1];
pwheel=[pw1 pw2 pw3 pw4];
[x,y,~,~]=state_unpack(obj);
%Plot the center of the car
plot(x,y,'o','Markersize',10,'Markerface','b')
hold on
R_car_world=carf_to_wf(obj);
pcw=R_car_world*pc;
plot([pcw(1,1) pcw(1,2)],[pcw(2,1) pcw(2,2)],'b','Linewidth',2)
plot([pcw(1,2) pcw(1,3)],[pcw(2,2) pcw(2,3)],'b','Linewidth',2)
plot([pcw(1,3) pcw(1,4)],[pcw(2,3) pcw(2,4)],'b','Linewidth',2)
plot([pcw(1,4) pcw(1,1)],[pcw(2,4) pcw(2,1)],'b','Linewidth',2)
%plot the Back wheels
%Plot the Front wheels
[si,~]=control_inputs_unpack(obj);
for i=2:3
R_wheel_to_car=wheel_frame_to_car(pc(:,i),si);
pwheel=R_car_world*R_wheel_to_car*pwheel;
plot([pwheel(1,1) pwheel(1,2)],[pwheel(2,1) pwheel(2,2)],'Color','red','Linewidth',2)
plot([pwheel(1,2) pwheel(1,3)],[pwheel(2,2) pwheel(2,3)],'Color','red','Linewidth',2)
plot([pwheel(1,3) pwheel(1,4)],[pwheel(2,3) pwheel(2,4)],'Color','red','Linewidth',2)
plot([pwheel(1,4) pwheel(1,1)],[pwheel(2,4) pwheel(2,1)],'Color','red','Linewidth',2)
pwheel=[pw1 pw2 pw3 pw4];
end
for i=1:3:4
R_wheel_to_car=wheel_frame_to_car(pc(:,i),0);
pwheel=R_car_world*R_wheel_to_car*pwheel;
plot([pwheel(1,1) pwheel(1,2)],[pwheel(2,1) pwheel(2,2)],'Color','red','Linewidth',2)
plot([pwheel(1,2) pwheel(1,3)],[pwheel(2,2) pwheel(2,3)],'Color','red','Linewidth',2)
plot([pwheel(1,3) pwheel(1,4)],[pwheel(2,3) pwheel(2,4)],'Color','red','Linewidth',2)
plot([pwheel(1,4) pwheel(1,1)],[pwheel(2,4) pwheel(2,1)],'Color','red','Linewidth',2)
pwheel=[pw1 pw2 pw3 pw4];
end
set(gca,'units','centimeters')
hold off
end
%% Get the transfomration matrix from car coordinate system to world coordinate system.
function R=carf_to_wf(obj)
[x,y,phi,~]=state_unpack(obj);
R=[cos(phi) -sin(phi) x;sin(phi) cos(phi) y;0 0 1];
end
%% Unpack the states
function [x,y,phi,v]=state_unpack(obj)
x=obj.states(1);
y=obj.states(2);
phi=obj.states(3);
v=obj.states(4);
end
%% Unpack control_inputs
function [si,acc]=control_inputs_unpack(obj)
si=obj.control_inputs(1);
acc=obj.control_inputs(2);
end
%% The dynamics of the car
% This function predicts the next state of the car based on its
% current state and the control inputs
function obj=update_state(obj)
[x,y,phi,v] = state_unpack(obj);
[si,acc] = control_inputs_unpack(obj);
x_next = x + v*cos(phi)*obj.ts;
y_next = y + v*sin(phi)*obj.ts;
phi_next = phi + v/(obj.wheel_base)*si*obj.ts;
v_next = v + acc*obj.ts;
% Check not the exceed the speed limit.
if(v_next > obj.max_velocity)
v_next = obj.max_velocity;
end
obj.states=[x_next y_next phi_next v_next];
end
%% A simple setter function. It is not necessary, but it will make the main code more readable.
function obj=update_input(obj,control_inputs)
% Normalize the steering angle to be between -pi and +pi.
control_inputs(1) = atan2(sin(control_inputs(1)),cos(control_inputs(1)));
% Check that the steering angle is not exceeding the limit.
if (control_inputs(1) > obj.steering_angle_limit)
control_inputs(1) = obj.steering_angle_limit;
elseif (control_inputs(1) < -obj.steering_angle_limit)
control_inputs(1) = -obj.steering_angle_limit;
end
obj.control_inputs=control_inputs;
end
function smooth_control_inputs(obj, smoothing_factor)
% Smooth control inputs using a simple low-pass filter
current_inputs = obj.control_inputs;
smoothed_inputs = smoothing_factor * current_inputs + (1 - smoothing_factor) * obj.last_smoothed_inputs;
obj.last_smoothed_inputs = smoothed_inputs;
obj.control_inputs = smoothed_inputs;
end
% function LateralLongitudinal_Controller(obj, cte, desired_yaw_rate)
% kp_lat = 0.03; % Parameter für laterale Regelung
% kd_lat = 0.3;
% ki_lat = 0.0001;
%
% kp_lon = 0.1; % Parameter für longitudinale Regelung
% kd_lon = 0.01;
% ki_lon = 0.0001;
%
% dcte = cte - obj.old_cte;
% obj.cte_intergral = obj.cte_intergral + cte;
% obj.old_cte = cte;
%
% % Lateral Control (quer)
% steering = kp_lat * cte + kd_lat * dcte + ki_lat * obj.cte_intergral;
%
% % Longitudinal Control (längs)
% desired_velocity = obj.max_velocity; % Setzen Sie die gewünschte Geschwindigkeit
% velocity_error = desired_velocity - obj.states(4);
%
% % Fügen Sie die max_acceleration-Eigenschaft hinzu
% max_acceleration = 2.0; % Setzen Sie hier den gewünschten maximalen Beschleunigungswert ein
%
% acceleration = kp_lon * velocity_error + kd_lon * obj.states(4) + ki_lon * sum(obj.states(1:4));
%
% % Begrenzen Sie die Beschleunigung
% acceleration = max(-max_acceleration, min(max_acceleration, acceleration));
%
% control_signal = [steering, acceleration];
%
% obj.update_input(control_signal);
% end
function PID_Controller(obj,cte)
kp = 0.08;
kd = 0.4;
ki = 0.000001;
dcte = cte - obj.old_cte;
obj.cte_intergral = obj.cte_intergral + cte;
obj.old_cte = cte;
steering = kp * cte + kd * dcte + ki * obj.cte_intergral;
[~,a] = obj.control_inputs_unpack;
control_signal = [steering,a];
obj.update_input(control_signal);
end
end
end
%% Helper Functions
function R=wheel_frame_to_car(pc,si)
R=[cos(si) -sin(si) pc(1);sin(si) cos(si) pc(2);0 0 1];
end
hier ist die trajectory classe:
classdef Trajectory < handle
properties
centerline;
nump = 8;
Nearst_Points;
Nearst_Points_C;
cte;
show_nearest = true;
show_fit = true;
Coeff_fit;
end
methods
function obj = Trajectory(file_path)
% Read Pylon data from file
pylons_data = readtable(file_path, 'Delimiter', ',', 'Format', '%s%f%f');
blue_pylons = pylons_data(strcmp(pylons_data.Var1, 'blue'), :);
yellow_pylons = pylons_data(strcmp(pylons_data.Var2, 'yellow'), :);
% Use pylons_data to generate centerline (replace this with your logic)
obj.centerline = generate_trajectory(pylons_data);
obj.Nearst_Points = zeros(obj.nump, 2);
obj.Nearst_Points_C = zeros(obj.nump, 2);
obj.cte = 0;
obj.Coeff_fit = [0 0 0];
end
function show(obj, Car)
% No need to read pylons_data from file since you're using centerline
% Überprüfen Sie, ob die Centerline leer oder gültig ist
if ~isempty(obj.centerline) && size(obj.centerline, 1) > 1
% Plot Centerline
plot(obj.centerline(:, 1), obj.centerline(:, 2), 'LineWidth', 1.5);
hold on;
else
% Die Centerline ist leer oder ungültig, geben Sie eine Warnung aus
warning('Die Centerline ist leer oder nicht korrekt zugewiesen.');
end
% Hier den Zustand des Autos abrufen und die Variable carPositionOnCenterline aktualisieren
Car_states = Car.state_unpack();
% Deine weiteren Berechnungen und Plots hier ...
hold off;
end
function W_to_Car_Coordinate_system(obj, Car)
[x, y, phi, ~] = Car.state_unpack;
tranlate = obj.Nearst_Points - [x, y];
obj.Nearst_Points_C = ([cos(phi) sin(phi); -sin(phi) cos(phi)] * tranlate')';
end
function find_nearest_points(obj, Car)
[x, y, ~, ~] = Car.state_unpack;
dist_list = sqrt((obj.centerline(:, 1) - x).^2 + (obj.centerline(:, 2) - y).^2);
[~, indices] = sort(dist_list);
obj.Nearst_Points = obj.centerline(indices(1:obj.nump), :);
end
function poly_fit(obj, Car)
obj.W_to_Car_Coordinate_system(Car);
obj.Coeff_fit = polyfit(obj.Nearst_Points_C(:, 1), obj.Nearst_Points_C(:, 2), 2);
end
function compute_error(obj)
obj.cte = obj.Coeff_fit(end);
end
end
end
% Transform points to car coordinate system
function CarPoints = CarToCarCoordinateSystem(WorldPoints, car)
[x, y, phi, ~] = car.state_unpack;
rotate = ([cos(phi), -sin(phi); sin(phi), cos(phi)] * WorldPoints')';
CarPoints = rotate + [x, y];
end
so dunktioniert der code:

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