teena_raaj2 asked . 2021-08-31

Undefined function 'de' for input arguments of type 'double'.

function [sys,x0,str,ts] = dynamic_model(t,x,u,flag)

switch flag,

  case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;

  case 1,
    sys=mdlDerivatives(t,x,u);

 
  case 3,
    sys=mdlOutputs(t,x,u);

 
  case { 2, 4, 9 },
    sys = [];

 
  otherwise
    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));

end
function [sys,x0,str,ts]=mdlInitializeSizes(~,~,~,~)

sizes = simsizes;
sizes.NumContStates  = 5;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 18;
sizes.NumInputs      = 22;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1;

sys = simsizes(sizes);
x0  = [20,0,0,0,0];
str = [];
ts  = [0 0];

function de=mdlDerivatives(~,x,u)
m=1298.9; Iz=1627; lf=1; lr=1.454; br=1.436; bf=br;

M=[m 0 0 0 0;0 m 0 0 0;0 0 Iz 0 0;0 0 0 1 0;0 0 0 0 1]; %matrice d'inertie
C=[0 m*u(22) 0 0 0;-m*u(22) 0 0 0 0;0 0 0 0 0;0 0 0 cos(u(21)) -sin(u(21));0 0 0 sin(u(21)) cos(u(21))];
F=[u(9)*cos(u(1))-u(13)*sin(u(1))+u(10)*cos(u(2))-u(14)*sin(u(2))+u(11)*cos(u(3))-u(15)*sin(u(3))+u(12)*cos(u(4))-u(16)*sin(u(4));u(13)*cos(u(1))+u(9)*sin(u(1))+u(14)*cos(u(2))+u(10)*sin(u(2))+u(15)*cos(u(3))+u(11)*sin(u(3))+u(16)*cos(u(4))+u(12)*sin(u(4));u(9)*(lf*sin(u(1))+0.5*bf*cos(u(1)))+u(10)*(lr*sin(u(2))-0.5*bf*cos(u(2)))+u(11)*(-lr*sin(u(3))+0.5*br*cos(u(3)))+u(12)*(-lr*sin(u(4))-0.5*br*cos(u(4)))+u(13)*(lf*sin(u(1))-0.5*bf*cos(u(1)))+u(14)*(lf*sin(u(2))+0.5*bf*cos(u(2)))+u(15)*(-lr*sin(u(3))-0.5*br*cos(u(3)))+u(16)*(-lr*sin(u(4))+0.5*br*cos(u(4)));0;0];


de=(F-C*x)/M;



function sys=mdlOutputs(~,~,u)
                                              %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
                                              %%%%%%%  non-linear dugoff tyre model %%%%%%%
                                             %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%   
   Cz=0.001; %vertical deflection rate of the tyre  
   Cs=50000;
   epsilon=0.015;
   I=2.1;
   R=0.35;
   Ca=30000;
   m=1298.9;
   lf=1; 
   lr=1.454;
   br=1.436;
   bf=br;
   mu=0.9;
   g=9.81;
   cons=m/(lr+lf);
   h=0.5;
   
   u1=(de(2)+lf*de(3))/(de(1)+0.5*bf*de(3));
   u2=(de(2)+lf*de(3))/(de(1)-0.5*bf*de(3));
   u3=(de(2)-lr*de(3))/(de(1)+0.5*br*de(3));    %% les ui représentent les rapports permettant de calculer les angles de dérives de chaque roue%%
   u4=(de(2)-lr*de(3))/(de(1)-0.5*br*de(3));
   U=[u1 u2 u3 u4];
   
   
                          %%%vertical load/charge verticale:
                                   
       dde=-C*de/M; %dérivée de de!
       
       Fz1= cons*(0.5*g*lr-0.5*dde(1)*h-lr*h*dde(2)/bf);
       Fz2= cons*(0.5*g*lr-0.5*dde(1)*h+lr*h*dde(2)/bf);
       Fz3= cons*(0.5*g*lr+0.5*dde(1)*h-lr*h*dde(2)/bf); 
       Fz4= cons*(0.5*g*lr+0.5*dde(1)*h+lr*h*dde(2)/bf);                        
       Fz=[Fz1 Fz2 Fz3 Fz4];
  
            %%% velocity component in the wheel plane : is the longitunal velocity
       v1=(de(1)+0.5*bf*de(3))*cos(u(1))+(de(2)+lf*de(3))*sin(u(1));
       v2=(de(1)-0.5*bf*de(3))*cos(u(2))+(de(2)+lf*de(3))*sin(u(2));
       v3=(de(1)+0.5*br*de(3))*cos(u(3))+(de(2)-lr*de(3))*sin(u(3));
       v4=(de(1)-0.5*br*de(3))*cos(u(4))+(de(2)-lr*de(3))*sin(u(4));
       V=[v1 v2 v3 v4];
       
   lamda=zeros(1,4);f=length(lamda);
   omega=zeros(1,4);
   alph=zeros(1,4);
   Re=zeros(1,4);
   S=zeros(1,4);
   dz=zeros(1,4);
   Fs=zeros(1,4);
   Ft=zeros(1,4);
  for i=1:4
      dz(i)=-Cz*Fz(i)+ 0.33*R;
      Re(i)=R-dz(i)/3;
      omega(i)=(-R*u(i+16)+u(i+4))/I;
      S(i)=1+omega(i)*Re(i)/V(i);
      alph(i)=atan(U(i))-u(i);
      lamda(i)= mu*Fz(i)*(1-S(i))*(1-epsilon*V(i)*sqrt((S(i))^2 + (tan(alph(i)))^2))/(2*sqrt((Cs^2)*(S(i))^2 + (Ca^2)*(tan(alph(i))^2)));
      if lamda(i)<1
         f(i)=lamda(i)*(2-lamda(i));
         Fs(i)=Ca*f(i)*tan(alph(i))/(1-S(i));
         Ft(i)=Cs*f(i)*S(i)/(1-S(i));
      elseif lamda(i)>1
          f(i)=1;
          Fs(i)=Ca*f(i)*tan(alph(i))/(1-S(i));
          Ft(i)=Cs*f(i)*S(i)/(1-S(i));
      end
  end
   
       
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%      
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Sorties %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%      
       
sys(1)=de(1);
sys(2)=de(2);
sys(3)=atan2(de(2),de(1));
sys(4)=de(4);
sys(5)=de(5);
sys(6)=Ft(1);
sys(7)=Ft(2);
sys(8)=Ft(3);
sys(9)=Ft(4);
sys(10)=Fs(1);
sys(11)=Fs(2);
sys(12)=Fs(3);
sys(13)=Fs(4);
sys(14)=de(3);
sys(15)=Fz(1);
sys(16)=Fz(2);
sys(17)=Fz(3);
sys(18)=Fz(4);

simulink , s -function , programming