ctrllab.m

反馈控制系统设计与分析（matlab程序）

%CtrlLAB is the main module of CtrlLAB.  The function syntax is as follows:
%   
%   ctrllab(key,arg1,agr2)
%
%if no argument is specified, then the command executes the main interface.  
%If there are extra arguments, then
%
%   key=0, for program initialization if arg1 not existing,
%         or menu enabling, if arg1 exists
%   key=1, displays and executes the tutorials
%   key=2, perform and display realization of plant model
%   key=3, add extra block to the plant model not 
%          implemented yet.
%
%The functions available in the module are
%
%  ctrllab_blocks -- draw the system blocks
%  ctrllab_toolbar -- creates a toolbar (for MATLAB 5.2+ only)
%  ctrllab_menu -- creates the main menu system
%  arrow_shw -- draw arrows in current window
%  ctrllab_init -- perform initialization in CtrlLAB
%  shw_tutorial -- activate the toturial program in CtrlLAB
%  plant_realiz -- displays the realization of plant model
%  add_sys_blocks -- adds the extra system properties to the plant
%  file_proc -- process the file open/save and quiting tasks
%  select_sigs -- allows one to select signals from the block diagram
%

%Copyright (c) 1997-1999 by Professor Dingyu Xue
%School of Information Science and Engineering, Northeastern University
%Shenyang 110006, P R China
%Email: [e-mail]
%-------------------------------------------------------------------------

function ctrllab(key,arg1,agr2)

%get the handle of the main window
h_main=findobj('Tag','CtrlLABMain');

if nargin==0
   %start the program
   if length(h_main)==0
      %if no such a window exists, then open a new main window
      h_main=figure('Units','normalized','Position',[0.1575 0.34 0.56125 0.448333], ...
         'NumberTitle','off','Name','CtrlLAB Feedback Control Systems Laboratory', ...
         'MenuBar','none','Color',0.8*[1,1,1],'CloseRequestFcn','ctrllab(5,4);',...
         'Tag','CtrlLABMain','Resize','off');
      ctrllab_blocks;
      [v,d]=version; v1=eval(v(1)); v2=eval(v(3));
      if v1>=5 & v2>=2, 
         ctrllab_toolbar; 
         set_contxtmenu(0); set_contxtmenu(1); set_contxtmenu(2); 
         set_contxtmenu(3); set_contxtmenu(4); 
      end 
      ctrllab_menu;
      ctrllab_init(0); 
   else, 
      %if the main window exists, bring it to front
      figure(h_main); 
   end
else
   %perform extra actions
   switch key
   case 0, %initialization of the program
      if nargin==1, ctrllab_init(0); 
      else, ctrllab_init(arg1); end 
   case 1, shw_tutorial(arg1); %perform tutorials 
   case 2, plant_realiz(arg1); %perform and display the realization of the plant model
   case 3, add_sys_blocks(arg1); %add extra blocks to the plant model
   case 5, file_proc(arg1); %call file_proc to process the File menu
   case 6, select_sigs(arg1); %select output signals
   case 7, set_openloop; %setting open-loop selections
   case 8, 
      uu0=get(h_main,'UserData'); g1=get(uu0{1}(1),'UserData');
      if length(g1)>0, matx_proc;
      else, 
         warndlg('Plant model dose not exist, please enter it first!','Matrix Processor Warning:'); 
      end   
   end      
end   

%---------------------------------------------------------------------------------
%ctrllab_blocks is used to create all the block buttons and draw the block diagram
%of typical feedback control structure on the main window.
%---------------------------------------------------------------------------------
function ctrllab_blocks()

extra_funs(1,[0.05,0.05,0.9,0.6]);
fill([0 1 1 0 0],[0 0 1 1 0],[0.502, 1, 1])
set(gca,'visible','off'); 

arrow_shw([0.87 0.60],[0.97,0.60],0.5,[0 0 0]);
arrow_shw([0.615 0.60],[0.715,0.60],0.5,[0 0 0]);
arrow_shw([0.395 0.60],[0.495,0.60],0.5,[0 0 0]);
arrow_shw([0.14 0.60],[0.24,0.60],0.5,[0 0 0]);
arrow_shw([0.01 0.60],[0.10,0.60],0.5,[0 0 0]);
hc(1)=line([0.92,0.92 0.70],[0.60,0.175 0.175]);  
t=0:.1:2*pi+0.1; x1=0.12+0.02*cos(t); y1=0.60+0.05*sin(t);
hc(2)=line(x1,y1); 
arrow_shw([0.70 0.175],[0.60,0.175],0.5,[0 0 0]);
arrow_shw([0.12 0.175],[0.12,0.55],0.05,[0 0 0]);
hc(3)=line([0.12,0.50],[0.175,0.175]); set(hc,'Color','k');

%display the title and its shading
display_str(0.116,0.83,'Typical Continuous Linear Feedback Structure',[1,1,0],'on',16,'Brush Script MT');
display_str(0.11,0.85,'Typical Continuous Linear Feedback Structure',[1,0,0],'on',16,'Brush Script MT');

hc=extra_funs(10,[0.4824,0.3224],[0.8969,0.7450]);
set(hc,'LineStyle',':','Color',[0,0,1]);
display_str(0.64,0.39,'Plant Model',[0,0,1],'on',9,'Times New Roman','normal','italic');

%labelling signal legends
[xL,h_Sig(1)]=display_str(0.17,0.67,'e(t)',[0.6,0.6,0],'on',9);
[xL,h_Sig(2)]=display_str(0.42,0.67,'u(t)',[0.6,0.6,0],'on',9);
[xL,h_Sig(3)]=display_str(0.92,0.67,'y(t)',[1,0,0],'on',9);
[xL,h_Sig(4)]=display_str(0.03,0.67,'\gamma(t)',[0,0,0],'on',9);
display_str(0.09,0.53,'\_',[0,0,0],'on',9);
set(h_Sig(1),'ButtonDownFcn','ctrllab(6,1);');
set(h_Sig(2),'ButtonDownFcn','ctrllab(6,2);');
set(h_Sig(3),'ButtonDownFcn','ctrllab(6,3);');

bSys(1) = uicontrol('Style','PushButton','String','G(s)',...
   'Units','normalized','Position',[0.50 0.35 0.14 0.115],'Callback','proc_model(0,1);');
bSys(2) = uicontrol('Style','PushButton','String','Gc(s)',...
   'Units','normalized','Position',[0.269 0.35 0.14 0.115],'Callback','proc_model(0,2);');
bSys(3) = uicontrol('Style','PushButton','String','H(s)',...
   'Units','normalized','Position',[0.45 0.10 0.14 0.115],'Callback','proc_model(0,3);');
bSys(4) = uicontrol('Style','PushButton','String','Exp(-Ts)',...
   'Units','normalized','Position',[0.695 0.35 0.14 0.112],'Callback','proc_model(0,4);');
   
%set the information to window's UserData.  The first four elements are the handles
%of the four blocks.  The fifth, 
%the sixth if 1 if there is unsaved model
%the seventh is the handle of the main window. The eighth is the signal selection.
set(gcf,'UserData',{[bSys,0,0,0,h_Sig]});

%----------------------------------------------------------------------
%ctrllab_menus is used to create all the menu items in the main window.
%----------------------------------------------------------------------
function ctrllab_toolbar()
load ctrllab_cdata; load clab_disp_cdata; 
yy=get(gcf,'Position'); screen=get(0,'ScreenSize'); ymax=yy(4)*screen(4)-20;
uicontrol('Style','PushButton','Units','pixels','Position',[2,ymax,20,20],...
   'CData',fnew_dat,'CallBack','ctrllab(0);','TooltipString','CtrlLAB initialization');
uicontrol('Style','PushButton','Units','pixels','Position',[22,ymax,20,20],...
   'CData',fopen_dat,'CallBack','ctrllab(5,1);','TooltipString','Load models');
uicontrol('Style','PushButton','Units','pixels','Position',[42,ymax,20,20],...
   'CData',fsave_dat,'CallBack','ctrllab(5,2);','TooltipString','Save models');
uicontrol('Style','PushButton','Units','pixels','Position',[65,ymax,20,20],...
   'CData',help_dat,'CallBack','clab_help(0);','TooltipString','Introduction');
uicontrol('Style','PushButton','Units','pixels','Position',[88,ymax,20,20],...
   'CData',tf_dat,'CallBack','extra_funs(4,3,''Checked'',20,[21:23]); proc_model(1);',...
   'TooltipString','Transfer Function');
uicontrol('Style','PushButton','Units','pixels','Position',[108,ymax,20,20],...
   'CData',ss_dat,'CallBack','extra_funs(4,3,''Checked'',21,[20,22,23]); proc_model(1);',...
   'TooltipString','State Space');
uicontrol('Style','PushButton','Units','pixels','Position',[128,ymax,20,20],...
   'CData',ftf_dat,'CallBack','extra_funs(4,3,''Checked'',23,[20:22]); proc_model(1);',...
   'TooltipString','Factorized Transfer Function');
uicontrol('Style','PushButton','Units','pixels','Position',[148,ymax,20,20],...
   'CData',matx_dat,'CallBack','ctrllab(8);','TooltipString','Matrix Processor');
uicontrol('Style','PushButton','Units','pixels','Position',[168,ymax,20,20],...
   'CData',red_dat,'CallBack','mod_reduction(1);','TooltipString','Model Reduction');
uicontrol('Style','PushButton','Units','pixels','Position',[188,ymax,20,20],...
   'CData',simu_dat,'CallBack','simu_modlib;','TooltipString','Model Library');

uicontrol('Style','PushButton','Units','pixels','Position',[211,ymax,20,20],...
   'String','Bo','CallBack','sys_analysis(1);','TooltipString','Bode Diagram');
uicontrol('Style','PushButton','Units','pixels','Position',[231,ymax,20,20],...
   'String','Ny','CallBack','sys_analysis(2);','TooltipString','Nyquist Plot');
uicontrol('Style','PushButton','Units','pixels','Position',[251,ymax,20,20],...
   'String','Nic','CallBack','sys_analysis(3);','TooltipString','Nichols Chart');
uicontrol('Style','PushButton','Units','pixels','Position',[271,ymax,20,20],...
   'String','Inv','CallBack','sys_analysis(4);','TooltipString','Inverse Nyquist Plot');
uicontrol('Style','PushButton','Units','pixels','Position',[291,ymax,20,20],...
   'String','RL','CallBack','sys_analysis(5);','TooltipString','Inverse Nyquist Plot');
uicontrol('Style','PushButton','Units','pixels','Position',[311,ymax,20,20],...
   'String','St','CallBack','sys_analysis(6);','TooltipString','Step Response');
uicontrol('Style','PushButton','Units','pixels','Position',[331,ymax,20,20],...
   'String','Im','CallBack','sys_analysis(7);','TooltipString','Impulse Response');
uicontrol('Style','PushButton','Units','pixels','Position',[354,ymax,20,20],...
   'CData',openl_dat,'CallBack','ctrllab(6,5);','TooltipString','Open Loop');
uicontrol('Style','PushButton','Units','pixels','Position',[374,ymax,20,20],...
   'CData',closel_dat,'CallBack','ctrllab(6,6);','TooltipString','Closed Loop');
uu0=get(gcf,'UserData');
set(uu0{1}(1),'TooltipString','Plant Model'); set(uu0{1}(2),'TooltipString','Controller Model');
set(uu0{1}(3),'TooltipString','Feedback Model Model'); set(uu0{1}(4),'TooltipString','Time Delay Model');

%----------------------------------------------------------------------
%ctrllab_menus is used to create all the menu items in the main window.
%----------------------------------------------------------------------
function ctrllab_menu()
% Defining menu systems
%
% (1) The File menu system definitions
hMFile(1)=uimenu(gcf,'Label','&File');
hMFile(2)=uimenu(hMFile(1),'Label','&New','CallBack','ctrllab(0);');
hMFile(3)=uimenu(hMFile(1),'Label','&Open ...','CallBack','ctrllab(5,1);');
hMFile(4)=uimenu(hMFile(1),'Label','&Save','CallBack','ctrllab(5,2);');