Simulink ,Block diagram error. "Nonlinear iteration is not converging "

After I accelerate a car and then decelerate to still, the vehicle dynamica model will show "Nonlinear iteration is not converging ".

The vehicle dynamica mode is just copied from Exampel " Slowly Increasing Steering Maneuver", and the input is modifed to ros message.

Answer 1

[Nishan Nekoo]

Hi Huikang, this is a little late but this type of error can mean that one of the signals in your model is diverging to plus or minus infinity or is otherwise changing too rapidly based on the solver settings: https://www.mathworks.com/matlabcentral/answers/451575-what-does-the-nonlinear-iteration-is-not-converging-error-mean

I would recommend using constants instead of the ROS message to verify that your model is still working correctly. If it is, then plot all your ROS message inputs and determining if they are diverging to plus or minus infinity or changing too rapidly.