Trying to plot SVAJ curves using Matlab for a double dwell cam

run environmentReset;

%Inputs

beta1 = 60; %rise

beta2 = 120;%dwel

beta3 = 30; %fall

beta4 = 150;%dwell

h1 = 2.5; %rise

h2 = 0; %dwell

h3 = 2.5; %fall

h4 = 0; %dwell

%SCCA constants

b = 0.25;

c = 0.50;

d = 0.25;

ca = 4.8881;

theta1 = beta1;

theta2 = theta1 + beta2;

theta3 = theta2 + beta3;

theta4 = theta3 + beta4;

syms y1(x)

y1(x) = ca*(x*(b/pi) - (b/pi)^2*sin(x*(pi/b)));

syms y1p(x)

y1p(x) = ca*(b/pi) * (1 - cos(x*(pi/b)));

syms y1p2(x)

y1p2(x) = ca*sin(x*(pi/b));

syms y1p3(x)

y1p3(x) = ca*(pi/b)*cos(x*(pi/b));

%Interval 1

for x = 0:b/2

y1(x);

y1p(x);

y1p2(x);

y1p3(x);

end

syms y2(x)

y2(x) = ca*(((x^2)/2) + b*((1/pi) - (1/2))*x + (b^2)*((1/8) - (1/(pi^2))));

syms y2p(x)

y2p(x) = ca*(x + b*((1/pi) - (1/2)));

syms y2p2(x)

y2p2(x) = ca;

syms y2p3(x)

y2p3(x) = 0;

%Interval 2

for x = b/2:(1-d)/2

y2(x);

y2p(x);

y2p2(x);

y2p3(x);

end

syms y3(x)

y3(x) = ca*(((b/pi) + (c/2))*x + ((d/pi)^2) + b^2*((1/8) - (1/pi^2)) - (1-d)^2/8 - (d/pi)^2*cos((pi/d)*(x-(1-d)/2)));

syms y3p(x)

y3p(x) = ca*((b/pi) + (c/2) + (d/pi)*sin((pi/d)*(x - (1-d)/2)));

syms y3p2(x)

y3p2(x) = ca*cos((pi/d)*(x - (1-d)/2));

syms y3p3(x)

y3p3(x) = -ca*(pi/d)*sin((pi/d)*(x - (1-d)/2));

%Interval 3

for x = (1-d)/2:(1+d)/2

y3(x);

y3p(x);

y3p2(x);

y3p3(x);

end

syms y4(x)

y4(x) = ca*((-x.^2/2) + ((b/pi) + (1-b/2)*x + (2*d^2 - b^2)*((1/pi^2) - 1/8) - 1/4));

syms y4p(x)

y4p(x) = ca*(-x + b/pi + 1 - b/2);

syms y4p2(x)

y4p2(x) = -ca;

syms y4p3(x)

y4p3(x) = 0;

%Interval 4

for x = (1+d)/2:1-b/2

y4(x);

y4p(x);

y4p2(x);

y4p3(x);

end

syms y5(x)

y5(x) = ca*((b/pi)*x + 2*(d^2 - b^2)/pi^2 +((1-b^2) - d^2)*4 - (b/pi)^2*sin((pi/b)*(x-1)));

syms y5p(x)

y5p(x) = ca*(b/pi)*(1 - cos((pi/b)*(x-1)));

syms y5p2(x)

y5p2(x) = ca*sin((pi/b)*(x-1));

syms y5p3(x)

y5p3(x) = ca*(pi/b)*cos((pi/b)*(x-1));

%Interval

for x = 1-b/2:1

y5(x);

y5p(x);

y5p2(x);

y5p3(x);

end

syms R(x, x1, x2)

R(x, x1, x2) = [(x > x1) & (x <= x2), 1, 0];

syms s1(x)

s1(x) = h1*(R(x, 0, b/2)*y1(x) + R(x, b/2, (1-d)/2)*y2(x) + R(x, (1-d)/2,(1+d)/2)*y3(x) + R(x, (1+d)/2, 1-b/2)*y4(x) + R(x, 1-b/2, 1)*y5(x));

syms v1(x)

v1(x) = (h1/beta1)*(R(x, 0, b/2)*y1p(x) + R(x, b/2, (1-d)/2)*y2p(x) + R(x, (1-d)/2,(1+d)/2)*y3p(x) + R(x, (1+d)/2, 1 - b/2)*y4p(x) + R(x, 1 - b/2, 1)*y5p(x));

syms a1(x)

a1(x) = (h1/beta1^2)*(R(x, 0, b/2)*y1p2(x) + R(x, b/2, (1-d)/2)*y2p2(x) + R(x, (1-d)/2,(1+d)/2)*y3p2(x) + R(x, (1+d)/2, 1 - b/2)*y4p2(x) + R(x, 1 - b/2, 1)*y5p2(x));

syms j1(x)

j1(x) = (h1/beta1^3)*(R(x, 0, b/2)*y1p3(x) + R(x, b/2, (1-d)/2)*y2p3(x) + R(x, (1-d)/2,(1+d)/2)*y3p3(x) + R(x, (1+d)/2, 1 - b/2)*y4p3(x) + R(x, 1 - b/2, 1)*y5p3(x));

%SVAJ Interval 1

for x = 0:beta1

s1(x);

v1(x);

a1(x);

j1(x);

end

syms s2(x)

s2(x) = h1;

syms v2(x)

v2(x) = 0;

syms a2(x)

a2(x) = 0;

syms j2(x)

j2(x) = 0;

%SVAJ Interval 2

for x = beta1:beta1 + beta2

s2(x);

v2(x);

a2(x);

j2(x);

end

syms s3(x)

s3(x) = h3*(1-R(x, 0, b/2)*y1(x) + R(x, b/2, (1-d)/2)*y2(x) + R(x, (1-d)/2,(1+d)/2)*y3(x) + R(x, (1+d)/2, 1-b/2)*y4(x) + R(x, 1-b/2, 1)*y5(x));

syms v3(x)

v3(x) = (-h3/beta3)*(R(x, 0, b/2)*y1p(x) + R(x, b/2, (1-d)/2)*y2p(x) + R(x, (1-d)/2,(1+d)/2)*y3p(x) + R(x, (1+d)/2, 1 - b/2)*y4p(x) + R(x, 1 - b/2, 1)*y5p(x));

syms a3(x)

a3(x) = (-h3/beta3^2)*(R(x, 0, b/2)*y1p2(x) + R(x, b/2, (1-d)/2)*y2p2(x) + R(x, (1-d)/2,(1+d)/2)*y3p2(x) + R(x, (1+d)/2, 1 - b/2)*y4p2(x) + R(x, 1 - b/2, 1)*y5p2(x));

syms j3(x)

j3(x) = (-h3/beta3^3)*(R(x, 0, b/2)*y1p3(x) + R(x, b/2, (1-d)/2)*y2p3(x) + R(x, (1-d)/2,(1+d)/2)*y3p3(x) + R(x, (1+d)/2, 1 - b/2)*y4p3(x) + R(x, 1 - b/2, 1)*y5p3(x));

%SVAJ Interval 3

for x = beta1 + beta2:beta1 + beta2 + beta3

s3(x);

v3(x);

a3(x);

j3(x);

end

syms s4(x)

s4(x) = 0;

syms v4(x)

v4(x) = 0;

syms a4(x)

a4(x) = 0;

syms j4(x)

j4(x) = 0;

%SVAJ Interval 4

for x = beta1 + beta2 + beta3:beta1 + beta2 + beta3 + beta4

s4(x);

v4(x);

a4(x);

j4(x);

end

syms S(theta)

syms V(theta)

syms A(theta)

syms J(theta)

%Complete global equations for displacement, S, velocity, V, acceleration,

%A, and jerk, J.

S(theta) = s1(theta/theta1) + R(theta, theta1, theta2)*s2((theta - theta1)/(theta2 - theta1)) + R(theta, theta2, theta3)*s3((theta - theta2)/(theta3 - theta2)) + R(theta, theta3, theta4)*s4((theta - theta3)/(theta4 - theta3));

V(theta) = v1(theta/theta1) + R(theta, theta1, theta2)*v2((theta - theta1)/(theta2 - theta1)) + R(theta, theta2, theta3)*v3((theta - theta2)/(theta3 - theta2)) + R(theta, theta3, theta4)*v4((theta - theta3)/(theta4 - theta3));

A(theta) = a1(theta/theta1) + R(theta, theta1, theta2)*a2((theta - theta1)/(theta2 - theta1)) + R(theta, theta2, theta3)*a3((theta - theta2)/(theta3 - theta2)) + R(theta, theta3, theta4)*a4((theta - theta3)/(theta4 - theta3));

J(theta) = j1(theta/theta1) + R(theta, theta1, theta2)*j2((theta - theta1)/(theta2 - theta1)) + R(theta, theta2, theta3)*j3((theta - theta2)/(theta3 - theta2)) + R(theta, theta3, theta4)*j4((theta - theta3)/(theta4 - theta3));

%Plot the global equations over 0 to 360 degrees.

ezplot(S);

Error using symengine

Dimensions do not match.

Error in sym/privBinaryOp (line 1022)

Csym = mupadmex(op,args{1}.s, args{2}.s, varargin{:});

Error in * (line 317)

X = privBinaryOp(A, B, 'symobj::mtimes');

Error in attempt4 (line 177)

S(theta) = s1(theta/theta1) + R(theta, theta1, theta2)*s2((theta - theta1)/(theta2 - theta1)) + R(theta, theta2,

theta3)*s3((theta - theta2)/(theta3 - theta2)) + R(theta, theta3, theta4)*s4((theta - theta3)/(theta4 - theta3));

I know the error in attempt4 will continue with line 178, 179, 180.

[Matthew Contreras]

Did you ever fix the error in line 177?