本帖最后由 殇逝 于 2016-3-31 10:20 编辑
fmincon求解,不收敛,取不到最优解,请问下是怎么回事?程序如下:
function f=steering_myfun(x)
global K L M %L轴距 K轮距
f=0;
for i=1:30
Z=0.5*acot(cot(i)-K/L)+0.5*i;
A=(K-M)/2;
B=sqrt((A-x(1)*cos(x(3)))^2+(x(1)*sin(x(3))-x(2))^2);
S=x(1)*cos(x(3)-i)+sqrt(B^2-(x(1)*sin(x(3)-i)-x(2))^2)-A;
C=atan(x(2)/(A-S));
D=acos((x(1)^2+x(2)^2+(A-S)^2-B^2)/(2*x(1)*sqrt(x(2)^2+(A-S)^2)));
N=C+D-x(3);
if i>0&&i<=10;
omg=1.5;
elseif i>10&&i<=20;
omg=1.0;
else
omg=0.5;
end
W=omg*abs(N./Z-1);
f=f+W;
end
end
function[c,ceq]= steering_mycon(x)
global K M
fmin=20.5;fmax=27;sm