Problem sending signals from Simulink to workspace

I am trying to build a controller for a unycicle, but when I try to send the configuration to the workspace for doing the polts, I have that the values of x,y and theta are all zeros. Moreover, the values of the input velocities are just two, and I don't get what is happening.

I attach my model.

Can somebody please help me? I have been on this problem for long time.

Thanks in advance

Answer 1

[Mathieu NOE]

Hi Flavio

just a fews minor bugs

1/ your x and y are not initilaised , by default your integrator blocks IC are set by default to zero

so x and y IC = 0 , so next value for v = 0 so idem for x_dot and y_dot , and so on, everything remains at zero the entire simulation

to fix that I change the IC values (see the initialization file and the simulink blocks changed are in green color)

2/ minor bug also on the indexes for v and omega data - this is why you had not the entire data vector.

I send you back the files and hope you can continue your work

Ciao

[Flavio Clarizia]

Thank you for your help. Sorry if I ask, but could you please send me again the simulink file but for the version of Matlab 2020a? I cannot open it since I don't have Matlab 2020b.

Thank you again.

[Mathieu NOE]

here you are

sorry, I didn't pay attention to that !

hope it works now

All the best

ciao

[Flavio Clarizia]

Yes it works. Thank you very much for your help!