MATLAB 机器人学工具箱（Robotics Toolbox ）sl_drivepoint 模型 consecutive zero crossings 问题

操作环境

• 工具箱：Robotics Toolbox for MATLAB 版本 10.2.1 作者 Peter Corke
• MATLAB版本：R2018a
• 操作系统：win10

问题

sl_drivepoint模型在使用时出现过零检测错误问题，仿真波形错误，机器人向相反的方向走，matlab报错如下。

An error occurred while running the simulation and the simulation was terminated
Caused by:
During the simulation of model 'sl_drivepoint', 2 zero crossing signal(s) exceeded the maximum number of 1000 consecutive zero crossings at time 0.89480252115574577 and therefore, the simulation will stop.
Suggested Actions
You can suppress the diagnostics and continue simulation without bracketing these zero crossings, by switching the zero crossing detection algorithm to 'Adaptive' and setting the Consecutive zero crossings violation diagnostic to 'none'.


原因

下图模块中angadff()函数使用错误，角度相减时顺序颠倒。

解决方案

修改为下图所示。