C#调用Matlab ROV数学模型时遇mod函数错误求助

我在Matlab 2022a中搭建了一套ROV（遥控潜水器）数学模型，想要在Visual Studio 2022的C#程序中调用该模型，实现参数传递与结果复用。但运行C#程序时出现调用失败的错误，尝试过检查路径、确认mod函数授权等方案，均无法解决问题。

C#调用代码 #

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WayPointModel
{
    public class ROV
    {
        public static Data ROVmini(double[] x, double[] tau, double[] vCurrNed)
        {
            object[] x1 = x.Select(d => (object)d).ToArray();
            object[] tau1 = tau.Select(d => (object)d).ToArray();
            object[] vCurrNed1 = vCurrNed.Select(d => (object)d).ToArray();
            MLApp.MLApp matlab = new MLApp.MLApp();
            matlab.Execute(@"cd C:\Users\abdhab\Documents\MATLAB\DP\1DautodepthTest");
            object result = null;
            matlab.Feval("ARSmini", 2, out result, x1, tau1, vCurrNed1);
            double[] res = result as double[];
            double[] xDot = res[..12];
            double[] vCurrBody = res[11..];
            return new Data { xDot = xDot, vCurrBody = vCurrBody };
        }
    }
}

Matlab函数代码 #

function [xdot, v_curr_body] = ARSmini(x, tau, v_curr_ned)

if (length(x) ~= 12),error('x-vector must have dimension 12!'); end
if (length(tau) ~= 6),error('tau-vector must have dimension 6!'); end

nu = x(1:6);
u = nu(1);
v = nu(2);
w = nu(3);
p = nu(4);
q = nu(5);
%nu(6) = 0.1;
r = nu(6);

eta = x(7:12);
phi = mod(eta(4),2*pi);
theta = mod(eta(5),2*pi);
psi = mod(eta(6),2*pi);

tau_u = tau(1);
tau_v = tau(2);
tau_w = tau(3);
tau_p = tau(4);
tau_q = tau(5);
%tau(6)=0.01;
tau_r = tau(6);

if (nargin == 2)
    v_curr_ned = [0 0 0]';
else
    R_n_b = Rzyx(phi, theta, psi)';
    v_curr_body = R_n_b*v_curr_ned;
end
    
nu_r = nu - [v_curr_body' 0 0 0]';

M_RB = [...
    90 0 0 0 0 0
    0 90 0 0 0 0
    0 0 90 0 0 0
    0 0 0 10 0 0
    0 0 0 0 15 0
    0 0 0 0 0 13];
M_A = [...
    54 0 0 0 0 0
    0 72 0 0 0 0 
    0 0 360 0 0 0
    0 0 0 11 0 0
    0 0 0 0 43.5 0
    0 0 0 0 0 5.2];
M = M_RB + M_A;

D_lin = [...
    250 0 0 0 0 0
    0 200 0 0 0 0
    0 0 175 0 0 0
    0 0 0 20 0 0
    0 0 0 0 20 0
    0 0 0 0 0 15];
D_n = [...
    350*abs(nu_r(1)) 0 0 0 0 0
    0 350*abs(nu_r(2)) 0 0 0 0
    0 0 400*abs(nu_r(3)) 0 0 0
    0 0 0 100*abs(nu_r(4)) 0 0
    0 0 0 0 100*abs(nu_r(5)) 0
    0 0 0 0 0 75*abs(nu_r(6))];
D = D_lin + D_n;

W = 90*9.81;
B = W/0.99;
r_bg = [0 0 0.18];
r_bb = [0 0 0];
 
g = gvect(W, B, theta, phi, r_bg, r_bb);

C = [...
    0 0 0 0 450*nu_r(3) -162*nu_r(2)
    0 0 0 -450*nu_r(3) 0 144*nu_r(1)
    0 0 0 162*nu_r(2) -144*nu_r(1) 0
    0 450*nu_r(3) -162*nu_r(2) 0 18.2*nu_r(6) -66.5*nu_r(5)
    -450*nu_r(3) 0 144*nu_r(1) -18.2*nu_r(6) 0 21*nu_r(4)
    162*nu_r(2) -144*nu_r(1) 0 66.5*nu_r(5) -21*nu_r(4) 0];

J = eulerang(eta(4),eta(5),eta(6));

area_rov =  [0.65*0.5; 0.9*0.5; 0.9*0.65];
cd = [1.05; 1.05; 1.75];
f_curr = 0.5 * 1000.*area_rov.*nu_r(1:3).*abs(nu_r(1:3)).*cd;

xdot = zeros(12,1);
xdot = [...
    M \ (tau - D * nu - g - C*nu_r - [f_curr;0 ; 0 ;0])
    J * nu];% + [v_curr_ned' 0 0 0]';

end

可能的解决方向 #

1. 检查Matlab依赖函数：Matlab函数中调用了Rzyx、gvect、eulerang三个自定义函数，必须确保这些函数和ARSmini.m在同一目录下，或者已添加到Matlab的搜索路径中，否则会因找不到函数报错。
2. 修正参数传递格式：C#传递的数组是行向量，而Matlab中默认处理列向量，建议在Matlab函数开头添加：

   x = x(:); tau = tau(:); v_curr_ned = v_curr_ned(:);
   

   确保输入参数统一为列向量格式。
3. 修复返回值处理逻辑：Matlab返回的result是包含两个二维数组的object[]，而非一维double[]，原C#代码的类型转换会失败，需修改为：

   object[] results = result as object[];
   double[,] xDotMat = results[0] as double[,];
   double[] xDot = Enumerable.Range(0, xDotMat.Length).Select(i => xDotMat[i / xDotMat.GetLength(1), i % xDotMat.GetLength(1)]).ToArray();
   double[,] vCurrBodyMat = results[1] as double[,];
   double[] vCurrBody = Enumerable.Range(0, vCurrBodyMat.Length).Select(i => vCurrBodyMat[i / vCurrBodyMat.GetLength(1), i % vCurrBodyMat.GetLength(1)]).ToArray();
   

4. 优化Matlab实例管理：每次调用新建MLApp实例可能导致资源冲突，建议复用实例，或调用后通过matlab.Quit()关闭进程。
5. 权限验证：确保C#程序拥有访问Matlab安装目录和脚本目录的权限，关闭UAC限制或以管理员身份运行程序。

内容的提问来源于stack exchange，提问作者A.H