dlb_ode_fun.m

matlab源码

function xdot=dlfun(t,x);
m1=0.200; m2=0.052; l1=0.10; l2=0.12; r=0.20; km=0.0236; ke=0.2865;
g=9.8; j1=0.004; j2=0.001; f1=0.01; f2=0.001; %各个参数值

a=j1+m2*r*r; b=m2*r*l2;c=j2;d=f1+km*ke;
e=(m1*l1+m2*r)*g; f=f2; h=m2*l2*g;
u=0;  %控制量，构成状态反馈时，令u=-k*x
xdot=zeros(4,1);
xdot(1)=x(3);
xdot(2)=x(4);
xdot(3)=((-d*c).*x(3)+(f*b*cos(x(2)-x(1))).*x(4)...
+b*b*sin(x(2)-x(1)).*cos(x(2)-x(1)).*x(3).*x(3)...
-b*c*sin(x(1)-x(2)).*x(4).*x(4)+e*c*sin(x(1)) ...
-h*b*sin(x(2)).*cos(x(2)-x(1))+km*c*u)...
/(a*c-b*b.*cos(x(1)-x(2)).*cos(x(2)-x(1)));
xdot(4)=((d*b*cos(x(1)-x(2))).*x(3)-(a*f).*x(4)...
-a*b*sin(x(2)-x(1)).*x(3).*x(3)...
+b*b*sin(x(1)-x(2)).*cos(x(1)-x(2)).*x(4).*x(4)...
-e*b*sin(x(1)).*cos(x(1)-x(2))+a*h*sin(x(2))...
-b*cos(x(1)-x(2))*km*u)...
   /(a*c-b*b.*cos(x(1)-x(2)).*cos(x(2)-x(1)));
%描述非线性模型的微分方程