design3.m

详细介绍了Mathlab的使用方法与技巧

%**********************
%求使线性二次型性能指标J-->Jmin状态反馈向量K及其最优控制律
wind_demo9=figure('color',[1,1,1],'position',[0.1*winw,0.1*winh,0.8*winw,0.8*winh],...
       'name','最优控制器设计:求使J-->Jmin状态反馈向量K,最优控制律U*(t),最优控制前后的系统极点和状态曲线','numbertitle','off','menubar','none',...
        'resize','off','clipping','off');
color=[0.6;.75;.9];
uicontrol('style','frame','position',[0,0,1,1],...
   'units','normalized','backgroundcolor',color);
pos=[0.03,0.93,0.3,0.03];color=[0.9,0.9,0.9];
showtext(pos,color,'当前系统状态空间和待输入Q和R矩阵:');
color=[.8;.8;0.8];
uicontrol('style','frame','position',[0.03,0.67,.75,.26],...
   'units','normalized','backgroundcolor',color);
pos=[0.04,0.88,0.03,0.03];
showtext(pos,color,'AK:');
demo_edita=uicontrol(wind_demo9,'style','edit','pos',[0.07,0.88,0.705,0.05],...
        'string',mat2str(ak),'back',[0.9,0.9,0.9],'units','normalized');
pos=[0.04,0.84,0.03,0.03];
showtext(pos,color,'BK:');
demo_editb=uicontrol(wind_demo9,'style','edit','pos',[0.07,0.84,0.705,0.04],...
        'string',mat2str(bk),'back',[0.9,0.9,0.9],'units','normalized');
pos=[0.04,0.80,0.03,0.03];
showtext(pos,color,'CK:');
demo_editc=uicontrol(wind_demo9,'style','edit','pos',[0.07,0.80,0.705,0.04],...
        'string',mat2str(ck),'back',[0.9,0.9,0.9],'units','normalized');
pos=[0.04,0.76,0.03,0.03];
showtext(pos,color,'DK:');
demo_editd=uicontrol(wind_demo9,'style','edit','pos',[0.07,0.76,0.705,0.04],...
        'string',mat2str(dk),'back',[0.9,0.9,0.9],'units','normalized');
pos=[0.04,0.72,0.02,0.03];
showtext(pos,color,'Q:');
demo_editq=uicontrol(wind_demo9,'style','edit','pos',[0.07,0.72,0.705,0.04],...
        'string','[ ]','back',[0.9,0.9,0.9],'units','normalized');
pos=[0.04,0.68,0.02,0.03];
showtext(pos,color,'R:');
demo_editr=uicontrol(wind_demo9,'style','edit','pos',[0.07,0.68,0.705,0.04],...
        'string','[ ]','back',[0.9,0.9,0.9],'units','normalized');
%*************
color=[0.9,0.9,0.9];
pos=[0.03,0.63,0.18,0.03];
showtext(pos,color,'最优反馈增益矩阵K为:');
color=[.8;.8;0.8];
uicontrol('style','frame','position',[0.03,0.57,.75,.06],...
   'units','normalized','backgroundcolor',color);
pos=[0.035,0.58,0.02,0.03];
showtext(pos,color,'K:');
%*************
color=[0.9,0.9,0.9];
pos=[0.03,0.53,0.15,0.03];
showtext(pos,color,'最优控制律U(t)为:');
color=[.8;.8;0.8];
uicontrol('style','frame','position',[0.03,0.47,.75,.06],...
   'units','normalized','backgroundcolor',color);
pos=[0.035,0.48,0.045,0.03];
showtext(pos,color,'U*(t):');
%***************
color=[0.9,0.9,0.9];
pos=[0.03,0.43,0.14,0.03];
showtext(pos,color,'反馈前系统极点:');
color=[.8;.8;0.8];
uicontrol('style','frame','position',[0.03,0.37,.75,.06],...
   'units','normalized','backgroundcolor',color);
pos=[0.035,0.38,0.03,0.03];
showtext(pos,color,'FP:');
%****************
color=[0.9,0.9,0.9];
pos=[0.03,0.33,0.14,0.03];
showtext(pos,color,'反馈后系统极点:');
color=[.8;.8;0.8];
uicontrol('style','frame','position',[0.03,0.27,.75,.06],...
   'units','normalized','backgroundcolor',color);
pos=[0.035,0.28,0.03,0.03];
showtext(pos,color,'BP:');
%^^^^^^^^^^^^^^^^^^^^
color=[0.9,0.9,0.9];
pos=[0.03,0.23,0.2,0.03];
showtext(pos,color,'最优控制后系统状态空间:');
color=[.8;.8;0.8];
uicontrol('style','frame','position',[0.03,0.05,.75,.18],...
   'units','normalized','backgroundcolor',color);
pos=[0.035,0.18,0.02,0.03];
showtext(pos,color,'A:');
pos=[0.035,0.14,0.02,0.03];
showtext(pos,color,'B:');
pos=[0.035,0.1,0.02,0.03];
showtext(pos,color,'C:');
pos=[0.035,0.06,0.02,0.03];
showtext(pos,color,'D:');
vvv=')';
%******************
color=[0,0.7,1];
str1=['set(demo9_1,''enable'',''on'');set(demo9_2,''enable'',''on'');set(demo9_3,''enable'',''on'');set(demo9_4,''enable'',''on'');',...
      'demoq=eval(get(demo_editq,''string''));demor=eval(get(demo_editr,''string''));',...
      '[k,p,e]=lqr(ak,bk,demoq,demor);',...
      'af=ak-bk*k;bf=bk;cf=ck;df=dk;',...
      '[numf,denf]=ss2tf(af,bf,cf,df,1);',...
      '[nr,nc]=size(k);stru=[];',...
      'for g=1:nc',...
      '    stru=[stru ''-'' mat2str2(k(g)) ''X('' mat2str2(g)vvv];',...
      'end;',...
      'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.06,0.58,0.715,0.04],''string'',mat2str(k),''back'',[0,0.7,1],''units'',''normalized'');',...
      'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.085,0.48,0.69,0.04],''string'',stru,''back'',[0,0.7,1],''units'',''normalized'');'];
str2=['at=ak-bk*k;bt=bk;ct=ck;dt=dk;',...
      '[z1,p1,k1]=ss2zp(ak,bk,ck,dk,1);',...
      '[z2,p2,k2]=ss2zp(at,bt,ct,dt,1);',...
      'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.07,0.38,0.705,0.04],''string'',mat2str(p1),''back'',[0,0.7,1],''units'',''normalized'');',...
      'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.07,0.28,0.705,0.04],''string'',mat2str(p2),''back'',[0,0.7,1],''units'',''normalized'');'];
str3=['set(demo9_5,''enable'',''on'');',...
         'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.06,0.18,0.715,0.04],',...
         '              ''string'',mat2str(af),''back'',[0,0.7,1],''units'',''normalized'');',...
         'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.06,0.14,0.715,0.04],',...
         '              ''string'',mat2str(bf),''back'',[0,0.7,1],''units'',''normalized'');',...
         'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.06,0.1,0.715,0.04],',...
         '              ''string'',mat2str(cf),''back'',[0,0.7,1],''units'',''normalized'');',...
         'uicontrol(wind_demo9,''style'',''edit'',''pos'',[0.06,0.06,0.715,0.04],',...
         '              ''string'',mat2str(df),''back'',[0,0.7,1],''units'',''normalized'');'];
str4=['wbode=figure(''color'',[.1,.7,.8],''position'',[0.1*winw,0.1*winh,0.8*winw,0.8*winh],',...
        '              ''name'',''最优控制前后Bode图对比分析'',''numbertitle'',''off'',''menubar'',''figure'',''resize'',''off'');',...
        '[mag,phase,w]=bode(bnum,bden);',...
        'subplot(2,2,1);semilogx(w,20*log10(mag));',...
        'grid;ylabel(''幅值/db'');title(''系统最优控制前Bode图之幅值图'');',...
        'subplot(2,2,2);semilogx(w,phase);',...
        'grid;ylabel(''相位/deg'');title(''系统最优控制前Bode图之相位图'');',...
        '[mag,phase,w]=bode(numf,denf);',...
        'subplot(2,2,3);semilogx(w,20*log10(mag));',...
        'grid;xlabel(''频率'');ylabel(''幅值/db'');title(''系统最优控制后Bode图之幅值图'');',...
        'subplot(2,2,4);semilogx(w,phase);',...
        'grid;xlabel(''频率'');ylabel(''相位/deg'');title(''系统最优控制后Bode图之相位图'');'];
str5=['t=[0:0.01:20];',...
        'wstep=figure(''color'',[.1,0.7,.8],''position'',[0.1*winw,0.1*winh,0.8*winw,0.8*winh],',...
        '                 ''name'',''最优控制前后Step阶跃响应对比分析'',''numbertitle'',''off'',''menubar'',''figure'',''resize'',''off'');',...
        'dcg=dcgain(a,b,c,d);',...
        '[yc x]=step(a,b,c,d,1,t);',...
        'yc1=yc/dcg;',...
        'subplot(2,1,1);',...
        'plot(t,x,''r'',t,yc1,''b'');',...
        'grid;xlabel(''s/t'');ylabel(''Y(t)和X(t)'');title(''最优控制前蓝线:Y(t)阶跃响应;红线:X(t)状态曲线'');',...
        'dcg=dcgain(af,bf,cf,df);',...
        '[yc x]=step(af,bf,cf,df,1,t);',...
        'yc1=yc/dcg;',...
        'subplot(2,1,2);',...
        'plot(t,x,''r'',t,yc1,''b'');',...
        'grid;xlabel(''s/t'');ylabel(''Y(t)和X(t)'');title(''最优控制后蓝线:Y(t)阶跃响应;红线:X(t)状态曲线'');'];
str6=['at=a;bt=b;ct=c;dt=d;numt=bnum;dent=bden;numt1=num;dent1=den;numt2=ffnum;dent2=ffden;',...
         'a=af;b=bf;c=cf;d=df;bnum=numf;bden=denf;[num,den]=cloop(bnum,bden,1);ffnum=1;ffden=1;',...
         '[ff,pp]=uiputfile(''*.mat'',''保存模型数据'',0.3*winw,0.4*winh);eval([''save '' pp,ff '' a b c d num den bnum bden ffnum ffden '']);test=1;',...
         'a=at;b=bt;c=ct;d=dt;bnum=numt;bden=dent;num=numt1;den=dent1;ffnum=numt2;ffden=dent2;'];
uicontrol(wind_demo9,'style','push','string','求K和U*(t)',...
       'position',[0.79,0.85,0.2,0.06],'units','normalized',...
      'callback',str1);
demo9_1=uicontrol(wind_demo9,'style','push','string','求FP和BP',...
       'position',[0.79,0.75,0.2,0.06],'units','normalized','enable','off',...
      'callback',str2);
demo9_2=uicontrol(wind_demo9,'style','push','string','求最优控制后状态空间',...
       'position',[0.79,0.65,0.2,0.06],'units','normalized','enable','off',...
      'callback',str3);
demo9_3=uicontrol(wind_demo9,'style','push','string','最优控制前后Bode图',...
       'position',[0.79,0.55,0.2,0.06],'units','normalized','enable','off',...
      'callback',str4);
demo9_4=uicontrol(wind_demo9,'style','push','string','最优控制前后Step图',...
       'position',[0.79,0.45,0.2,0.06],'units','normalized','enable','off',...
      'callback',str5);
demo9_5=uicontrol(wind_demo9,'style','push','string','保存最优控制后模型',...
       'position',[0.79,0.35,0.2,0.06],'units','normalized','enable','off',...
      'callback',str6);
uicontrol(wind_demo9,'style','push','string','结束',...
       'position',[0.79,0.25,0.2,0.06],'units','normalized',...
      'callback','close(wind_demo9)');