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求助,编写的矩阵微分方程组,然后在运行的时候报错:错误使用 + 矩阵维度必须一致。之后我将式子中求导的项去掉了,然后仍然要求维度必须一致,请问这该如何解决。程序如下:
, M' m& P( W0 h9 R. X. d6 j" @, copt=odeset;opt.RelTol=1e-8;
3 {2 H: E8 l/ C4 K' T" pTmh=0;Tmp=0;Mh=4100;Ihx=4032;Ihy=3461;Ihz=4980;Ihxy=31;Ihxz=637;Ihyz=26;Mp=1500;Ipx=117;Ipy=861;, Y" |# X# ^/ W& g
Ipz=754;Ipxy=0.615;Ipxz=152;Ipyz=14.5;: D. y' i8 C$ S# X0 T Z5 b
g=9.81;xh=0.237;yh=0.013;zh=0.404;xp=0.5;yp=0;zp=0;xhp=0;yhp=0;zhp=0.96;xch=0;ych=0;zch=0.9;u=12*sin((pi/3)*t);
* s) H! y. t( Q& i& q4 ~v=0;w=12*sin((pi/3)*t);
6 X( c! |8 n6 x6 }1 k. tp=12*sin((pi/3)*t);q=12*sin((pi/3)*t);r=12*sin((pi/3)*t);theta=12*sin((pi/3)*t);varphi=12*sin((pi/3)*t);Ch=100;Cp=90;Kp=100;. O- N/ D! o! b# |" E" \3 X. [
A=p*cos(x(1))*cos(x(2))+q*sin(x(1))*cos(x(2))-r*sin(x(2));
! K/ e* @6 \8 i* uB=p*cos(x(1))*sin(x(2))+q*sin(x(1))*sin(x(2))+r*cos(x(2));
# S/ R5 K# R6 ~1 l% ~9 y1 {E=-p*sin(x(1))+q*cos(x(1));4 k5 g# N' B$ v! @% f
F=p*cos(x(1))+q*sin(x(1));
2 X" N2 t, V9 ]% h8 @+ e6 f# Y ]e=-diff(p)*sin(x(1))+diff(q)*cos(x(1));
" @" Z- [; @ Y% t5 A2 }f=diff(p)*cos(x(1))+diff(q)*sin(x(1));
: |- e9 g7 S1 aTcwh=Mh.*xh.*(v+xch.*r-zch.*p+xh.*r-zh.*f)+Mh.*yh.*(u-r.*ych+q.*zch-r.*yh+zh.*e)+....
2 |5 K# A1 g* J. t+ K ~ Mh.*zh.*F.*(u-r.*ych+q.*zch-r.*yh+zh.*E)+Mh.*zh.*E.*(v+r.*xch-p.*zch+r.*xh-zh.*F)-Mh.*xh.*F.*(w-q.*xch+p.*ych-E.*xh+yh.*F)...1 ?8 {, V9 D" w$ d/ X2 B7 k' Y
-Mh.*yh.*E.*(w-q.*xch+p.*ych-E.*xh+yh.*F)...
7 F1 {) l2 x! |9 u! {, W +Mp.*((diff(u)-diff(r).*ych+diff(q).*zch-diff(r).*yhp+zhp.*e).*(-yhp-cos(x(2)).*yp)+(diff(v)+xch.*diff(r)-zch.*diff(p)+...- W: X9 Y0 c) n8 Q0 }' V
xhp.*diff(r)-zhp.*f+b.*xp-a.*zp).*(xhp+xp.*cos(x(2))+sin(x(2)).*zp)+(diff(w)-diff(q).*xch+diff(p).*ych-e.*xhp+yhp.*f-xp.*e+...' {( k3 y0 M* u
yp^2.*sin(x(2)).*a)-((u-r.*ych+q.*zch-r.*yhp+zhp.*E-yp.*B+zp.*E).*(-(zhp+zp).*F-yp.*sin(x(2)).*E)+(v+r.*xch-p.*zch+r.*xhp-zhp.*F+...
- `! K0 R' k6 R c) b1 a xp.*B-zp.*A).*(-zhp.*E+xp.*sin(x(2)).*E-zp.*cos(x(2)).*E)+(w-q.*xch+p.*ych-E.*xhp+yhp.*F-xp.*E+yp.*A)*(xhp*F+yhp*E+xp*F+yp*cos(x(2))*E)))...
' O, `, X% ~6 v+ i; @ +Ihxz*f+Ihyz*e+Ihz*diff(r)-Ihx*E*F+Ihy*E*F+Ihxy*F^2+Ihxy*E^2-Ihxz*r*E+Ihyz*r*F-Ipx*sin(x(2))*a+Ipz*cos(x(2))*b-...6 o% Z F9 M. |. U) k9 N) \1 S! @
Ipxy*sin(x(2))*e-Ipxz*sin(x(2))^2*f+Ipxz*cos(x(2))*a+Ipyz*cos(x(2))*e-Ipx*cos(x(2))*E*A+Ipy*E*F-Ipz*A*E*sin(x(2))-...4 z, Q1 [7 L' v4 P5 L1 \
Ipxy*cos(x(2))*E^2+Ipxy*A*F-Ipxz*cos(x(2))*B*E-Ipxz*sin(x(2))*A*E+Ipyz*B*F-Ipyz*sin(x(2))*E^2;
2 Q; T- ?" C- `7 p. ]6 V2 \% M7 [ |
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