ball_anim.m

基于状态观测器的二自由度汽车建模及控制分析

function [sys,x0,str,ts] = ball_anim(t,x,u,flag)

% Plots every major integration step, but has no states of its own
switch flag,

  %%%%%%%%%%%%%%%%%%
  % Initialization %
  %%%%%%%%%%%%%%%%%%
  case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;

  %%%%%%%%%%
  % Update %
  %%%%%%%%%%
  case 2,
    sys=mdlUpdate(t,x,u);

  %%%%%%%%%%%%%%%%
  % Unused flags %
  %%%%%%%%%%%%%%%%
  case { 1, 3, 4, 9 },
    sys = [];
    
  %%%%%%%%%%%%%%%
  % DeleteBlock %
  %%%%%%%%%%%%%%%
  case 'DeleteBlock',
    LocalDeleteBlock
    
  %%%%%%%%%%%%%%%
  % DeleteFigure %
  %%%%%%%%%%%%%%%
  case 'DeleteFigure',
    LocalDeleteFigure
  
  %%%%%%%%%
  % Close %
  %%%%%%%%%
  case 'Close',
    LocalClose
   
  %%%%%%%%%%%%%%%%%%%%
  % Unexpected flags %
  %%%%%%%%%%%%%%%%%%%%
  otherwise
    error(['Unhandled flag = ',num2str(flag)]);
end

% end main s-func

%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts]=mdlInitializeSizes

%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
sizes = simsizes;

sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 0;
sizes.NumInputs      = 4;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;

sys = simsizes(sizes);

%
% initialize the initial conditions
%
x0  = [];

%
% str is always an empty matrix
%
str = [];

%
% initialize the array of sample times, 
% the animation is updated every 0.1 seconds
%
ts  = [0.1 0];

%
% create the figure, if necessary
%
LocalPendInit;

% end mdlInitializeSizes

%
%=============================================================================
% mdlUpdate
% Update the pendulum animation.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)

fig = get_param(gcbh,'UserData');
if ishandle(fig),
  if strcmp(get(fig,'Visible'),'on'),
    ud = get(fig,'UserData');
    LocalPendSets(t,ud,u);
  end
end;
 
sys = [];

% end mdlUpdate

%
%=============================================================================
% LocalDeleteBlock
% The animation block is being deleted, delete the associated figure.
%=============================================================================
%
function LocalDeleteBlock

fig = get_param(gcbh,'UserData');
if ishandle(fig),
  delete(fig);
  set_param(gcbh,'UserData',-1)
end

% end LocalDeleteBlock

%
%=============================================================================
% LocalDeleteFigure
% The animation figure is being deleted, set the S-function UserData to -1.
%=============================================================================
%
function LocalDeleteFigure

ud = get(gcbf,'UserData');
set_param(ud.Block,'UserData',-1);
  
% end LocalDeleteFigure

%

%
%=============================================================================
% LocalClose
% The callback function for the animation window close button.  Delete
% the animation figure window.
%=============================================================================
%
function LocalClose

delete(gcbf)

% end LocalClose


%
%=============================================================================
% LocalPendSets
% Local function to set the position of the graphics objects in the
% inverted pendulum animation window.
%=============================================================================
%
function LocalPendSets(time,ud,u)

XDelta   = 0.5;
PDelta   = 0.2;

set(ud.Cart,...
  'XData',ones(2,1)*[u(1)-XDelta u(1)+XDelta]);

set(ud.ObsA,...
  'XData',ones(2,1)*[u(2)-XDelta u(2)+XDelta]);

set(ud.ObsB,...
  'XData',ones(2,1)*[u(3)-XDelta u(3)+XDelta]);

set(ud.ObsC,...
  'XData',ones(2,1)*[u(4)-XDelta u(4)+XDelta]);


% Force plot to be drawn
pause(0)
drawnow

% end LocalPendSets

%
%=============================================================================
% LocalPendInit
% Local function to initialize the pendulum animation.  If the animation
% window already exists, it is brought to the front.  Otherwise, a new
% figure window is created.
%=============================================================================
%
function LocalPendInit

%
% The name of the reference is derived from the name of the
% subsystem block that owns the pendulum animation S-function block.
% This subsystem is the current system and is assumed to be the same
% layer at which the reference block resides.
%
sys = get_param(gcs,'Parent');


XCart     = 0;


XDelta    = 0.5;


%
% The animation figure handle is stored in the pendulum block's UserData.
% If it exists, initialize the reference mark, time, cart, and pendulum
% positions/strings/etc.
%
Fig = get_param(gcbh,'UserData');
if ishandle(Fig),
 FigUD = get(Fig,'UserData');
  set(FigUD.Cart,...
      'XData',ones(2,1)*[XCart-XDelta XCart+XDelta]);

      
  %
  % bring it to the front
  %
  figure(Fig);
  return
end

%
% the animation figure doesn't exist, create a new one and store its
% handle in the animation block's UserData
%
FigureName = 'Ball demo';
Fig = figure(...
  'Units',           'pixel',...
  'Position',        [100 100 1000 300],...
  'Name',            FigureName,...
  'NumberTitle',     'off',...
  'IntegerHandle',   'off',...
  'HandleVisibility','callback',...
  'Resize',          'off',...
  'DeleteFcn',       'pendan([],[],[],''DeleteFigure'')',...
  'CloseRequestFcn', 'pendan([],[],[],''Close'');');
AxesH = axes(...
  'Parent',  Fig,...
  'Units',   'pixel',...
  'Position',[50 50 850 200],...
  'CLim',    [1 64], ...
  'Xlim',    [-12 12],...
  'Ylim',    [-2 10],...
  'Visible', 'off');
Cart = surface(...
  'Parent',   AxesH,...
  'XData',    ones(2,1)*[XCart-XDelta XCart+XDelta],...
  'YData',    [0 0; -2 -2],...
  'ZData',    zeros(2),...
  'CData',    ones(2),...
  'EraseMode','xor');
ObsA = surface(...
  'Parent',   AxesH,...
  'XData',    ones(2,1)*[XCart-XDelta XCart+XDelta],...
  'YData',    [4 4; 2 2],...
  'ZData',    zeros(2),...
  'CData',    ones(2),...
  'EraseMode','xor');

ObsB = surface(...
  'Parent',   AxesH,...
  'XData',    ones(2,1)*[XCart-XDelta XCart+XDelta],...
  'YData',    [7 7; 5 5],...
  'ZData',    zeros(2),...
  'CData',    ones(2),...
  'EraseMode','xor');

ObsC = surface(...
  'Parent',   AxesH,...
  'XData',    ones(2,1)*[XCart-XDelta XCart+XDelta],...
  'YData',    [10 10; 8 8],...
  'ZData',    zeros(2),...
  'CData',    ones(2),...
  'EraseMode','xor');

uicontrol(...
  'Parent',  Fig,...
  'Style',   'pushbutton',...
  'Position',[415 15 70 20],...
  'String',  'Close', ...
  'Callback','pendan([],[],[],''Close'');');



%
% all the HG objects are created, store them into the Figure's UserData
%
FigUD.Cart         = Cart;
FigUD.ObsA         = ObsA;
FigUD.ObsB         = ObsB;
FigUD.ObsC         = ObsC;


FigUD.Block        = get_param(gcbh,'Handle');
% FigUD.RefBlock     = get_param([sys '/' RefBlock],'Handle');
set(Fig,'UserData',FigUD);

drawnow

%
% store the figure handle in the animation block's UserData
%
set_param(gcbh,'UserData',Fig);

% end LocalPendInit