運行一個trim函數，可是總是錯誤

Index exceeds matrix dimensions.

Error in trim>trim_alg (line 164)

gg=[x(ix)-x0(ix);y(iy)-y0(iy);u(iu)-u0(iu)];

Error in trim (line 84)

[x,u,y,dx,options]=trim_alg(fcn,varargin{:});

不知道該怎么辦了。源程序如下：

P.gravity = 9.8;

%physical parameters of airframe

P.mass = 13.5 ;

P.Jx? ?= 0.8244;

P.Jy? ?= 1.135;

P.Jz? ?= 1.579;

P.Jxz??= 0.1204;

% aerodynamic coefficients

P.M? ?? ?? ?? ? = 50;

P.epsilon? ?? ? = 0.1592;

P.alpha0? ?? ???= 0.4712;

P.rho? ?? ?? ???= 1.2682;

P.c? ?? ?? ?? ? = 0.18994;

P.b? ?? ?? ?? ? = 2.8956;

P.S? ?? ?? ?? ? = 0.55;

P.S_prop? ?? ???= 0.2027;

P.k_motor? ?? ? = 80;

P.k_T_p? ?? ?? ?=0;

P.k_omega? ?? ? =0;

P.C_L_0? ?? ?? ?= 0.28;

P.C_L_alpha? ???= 3.45;

P.C_L_q? ?? ?? ?= 0.0;

P.C_L_delta_e? ?= -0.36;

P.C_D_0? ?? ?? ?= 0.03;

P.C_D_q? ?? ?? ?= 0.0;

P.C_D_alpha? ???=0.30;

P.C_D_delta_e? ?= 0.0;

P.C_M_0? ?? ?? ?= -0.02338;

P.C_M_alpha? ???= -0.38;

P.C_M_q? ?? ?? ?= -3.6;

P.C_M_delta_e? ?= -0.5;

P.C_Y_0? ?? ?? ?= 0.0;

P.C_Y_beta? ?? ?= -0.98;

P.C_Y_p? ?? ?? ?= -0.26;

P.C_Y_r? ?? ?? ?= 0.0;

P.C_Y_delta_a? ?= 0.0;

P.C_Y_delta_r? ?= -0.17;

P.C_ell_0? ?? ? = 0.0;

P.C_ell_beta? ? = -0.12;

P.C_ell_p? ?? ? = -0.26;

P.C_ell_r? ?? ? = 0.14;

P.C_ell_delta_a = 0.08;

P.C_ell_delta_r = 0.105;

P.C_n_0? ?? ?? ?= 0.0;

P.C_n_beta? ?? ?= 0.25;

P.C_n_p? ?? ?? ?= 0.022;

P.C_n_r? ?? ?? ?= -0.35;

P.C_n_delta_a? ?= 0.06;

P.C_n_delta_r? ?= -0.032;

P.C_prop? ?? ???= 1;

% wind parameters

P.wind_n = 0;%3;

P.wind_e = 0;%2;

P.wind_d = 0;

P.L_wx = 1250;

P.L_wy = 1750;

P.L_wz = 1750;

P.sigma_wx = 1;

P.sigma_wy = 1;

P.sigma_wz = 1;

% autopilot sample rate

P.Ts = 0.01;

% compute trim conditions using \'mavsim_chap5_trim.mdl\'

P.Va? ? = 13;? ?? ?? ?% desired airspeed (m/s)

gamma = 0*pi/180;??% desired flight path angle (radians)

R? ???= 0;? ?? ?? ?% desired radius (m) - use (+) for right handed orbit,

%? ?? ?? ?? ?? ?? ?? ?? ???(-) for left handed orbit

% first cut at initial conditions

P.pn0? ? =0;??% initial North position

P.pe0? ? = 0;??% initial East position

P.pd0? ? = 0;??% initial Down position (negative altitude)

P.u0? ???= P.Va; % initial velocity along body x-axis

P.v0? ???= 0;??% initial velocity along body y-axis

P.w0? ???= 0;??% initial velocity along body z-axis

P.phi0? ?= 0;??% initial roll angle

P.theta0 = 0;??% initial pitch angle

P.psi0? ?= 0;??% initial yaw angle

P.p0? ???= 0;??% initial body frame roll rate

P.q0? ???= 0;??% initial body frame pitch rate

P.r0? ???= 0;??% initial body frame yaw rate

X0=[0;0;0;P.Va;0;0;0;0;gamma;0;0;0];

U0=[0;0;0;1];

%initialize the trim para

X0? ???=[0;0;0;P.Va;0;0;0;gamma;0;0;0;0];

IX0? ? =[];

U0? ???=[0;0;0;1];

IU0? ? =[];

Y0? ???=[0;0;0;P.Va;0;0;0;0;0;0;0;0;];

IY0? ? =[4;5;6;8;9];

DX? ???=[0;0;P.Va*sin(gamma);0;0;0;0;0;0;0;0;0];

IDX? ? =[3;4;5;6;7;8;9;10;11;12];

% run trim commands

[x_trim, u_trim,y_trim,dx_trim]=trim(\'mavsim_trim\',X0,U0,Y0,IX0,IU0,IY0,DX,IDX);

P.u_trim = u_trim

P.x_trim = x_trim

% set initial conditions to trim conditions

% initial conditions

P.pn0? ? = x_trim(1);??% initial North position

P.pe0? ? = x_trim(2);??% initial East position

P.pd0? ? = x_trim(3);??% initial Down position (negative altitude)

P.u0? ???= x_trim(4);??% initial velocity along body x-axis

P.v0? ???= x_trim(5);??% initial velocity along body y-axis

P.w0? ???= x_trim(6);??% initial velocity along body z-axis

P.phi0? ?= x_trim(7);??% initial roll angle

P.theta0 = x_trim(8);??% initial pitch angle

P.psi0? ?= x_trim(9);??% initial yaw angle

P.p0? ???= x_trim(10);??% initial body frame roll rate

P.q0? ???= x_trim(11);??% initial body frame pitch rate

P.r0? ???= x_trim(12);??% initial body frame yaw rate

請大神幫忙解決一下，謝謝

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