ddxiner
2012-05-23, 12:43
我做的视觉伺服仿真，采用的单应性控制器，设置仿真时间为0.15秒时，图像平面的四个点能够平滑移动，但是将仿真时间改为0.2秒时，图像平面的四个点在0.15s后开始跳动，之后就跑出视野，命令空间出现警告如下：
Warning: Unable to reduce the step size without violating minimum step size of
6.326877805416428e-016 for 2 consecutive times at time 0.1780857782930762. Continuing simulation
with the step size restricted to 6.326877805416428e-016 and using an effective relative error
tolerance of 0.005215026678818611, which is greater than the specified relative error tolerance
of 0.001. This usually may be caused by the high stiffness of the system. Please check the model
'sp98' or increase the Max consecutive min step size violation parameter in the solver
configuration panel
我也发现示波器中显示，在0.178秒时误差变得特别大，按仿真的本意来说，误差趋于零才对，不知这是什么原因？请大家帮忙看一下，多谢了！
Warning: Unable to reduce the step size without violating minimum step size of
6.326877805416428e-016 for 2 consecutive times at time 0.1780857782930762. Continuing simulation
with the step size restricted to 6.326877805416428e-016 and using an effective relative error
tolerance of 0.005215026678818611, which is greater than the specified relative error tolerance
of 0.001. This usually may be caused by the high stiffness of the system. Please check the model
'sp98' or increase the Max consecutive min step size violation parameter in the solver
configuration panel
我也发现示波器中显示，在0.178秒时误差变得特别大，按仿真的本意来说，误差趋于零才对，不知这是什么原因？请大家帮忙看一下，多谢了！