mrefrobotarm2.mdl

神经网络预测控制程序的源代码

	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Unit Delay4"
	      SrcPort		      1
	      DstBlock		      "Mux2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Switch"
	      SrcPort		      1
	      Points		      [0, -75; 90, 0]
	      Branch {
		Points			[75, 0]
		DstBlock		"Mux2"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Unit Delay4"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Zero-Order\nHold"
	      SrcPort		      1
	      DstBlock		      "yhat"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Switch2"
	      SrcPort		      1
	      DstBlock		      "Zero-Order\nHold"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator"
	  Position		  [420, 145, 440, 165]
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator1"
	  Position		  [425, 225, 445, 245]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Control Signal"
	  Position		  [195, 220, 225, 235]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	}
	Line {
	  SrcBlock		  "Plant Output"
	  SrcPort		  1
	  Points		  [0, -15]
	  Branch {
	    Points		    [0, -30]
	    DstBlock		    "NN Plant"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [-155, 0; 0, -95]
	    DstBlock		    "NN Controller"
	    DstPort		    3
	  }
	}
	Line {
	  SrcBlock		  "NN Controller"
	  SrcPort		  1
	  Points		  [45, 0; 0, 65]
	  Branch {
	    DstBlock		    "NN Plant"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [-75, 0]
	    Branch {
	      DstBlock		      "Control Signal"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-60, 0]
	      DstBlock		      "NN Controller"
	      DstPort		      2
	    }
	  }
	}
	Line {
	  SrcBlock		  "Reference"
	  SrcPort		  1
	  Points		  [55, 0]
	  DstBlock		  "NN Controller"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "NN Plant"
	  SrcPort		  1
	  Points		  [30, 0]
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "NN Plant"
	  SrcPort		  2
	  Points		  [35, 0]
	  DstBlock		  "Terminator1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "More Info"
      Ports		      []
      Position		      [420, 230, 447, 255]
      DropShadow	      on
      ShowName		      off
      TreatAsAtomicUnit	      off
      MaskDisplay	      "disp('?')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"More Info"
	Location		[615, 382, 963, 565]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Annotation {
	  Name			  "This system simulates model reference contr"
"ol\nof a single-link robot arm."
	  Position		  [162, 22]
	}
	Annotation {
	  Name			  "Double-click on the Model Reference Control"
"ler block\nto train the neural network controller and plant model."
	  Position		  [162, 67]
	}
	Annotation {
	  Name			  "For more information on what the controller"
" \ndoes, look under the mask of the Model Reference \nController block."
	  Position		  [162, 122]
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "More Info2"
      Ports		      []
      Position		      [570, 225, 672, 276]
      DropShadow	      on
      ShowName		      off
      OpenFcn		      "simcad(bdroot)"
      TreatAsAtomicUnit	      off
      MaskDisplay	      "disp('Double click\\nhere for\\nSimulink Help')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"More Info2"
	Location		[128, 280, 487, 453]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Plant\n(Robot Arm)"
      Ports		      [1, 1]
      Position		      [450, 53, 565, 117]
      TreatAsAtomicUnit	      off
      MaskDisplay	      "plot([-10],[0],[10],[0],[-2 -2 2 2 -2],[5 4 4 5"
" 5],[0 3],[4.5 0.5])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      Port {
	PortNumber		1
	Name			"Angle"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
      System {
	Name			"Plant\n(Robot Arm)"
	Location		[365, 225, 736, 441]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "u"
	  Position		  [15, 33, 45, 47]
	}
	Block {
	  BlockType		  Gain
	  Name			  "Friction"
	  Position		  [110, 100, 140, 130]
	  Orientation		  "left"
	  Gain			  "2"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Gravity"
	  Position		  [170, 150, 230, 180]
	  Orientation		  "left"
	  Expr			  "10*sin(u(1))"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Position"
	  Ports			  [1, 1]
	  Position		  [210, 40, 240, 70]
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [85, 33, 105, 77]
	  ShowName		  off
	  Inputs		  "+--"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Velocity"
	  Ports			  [1, 1]
	  Position		  [135, 40, 165, 70]
	}
	Block {
	  BlockType		  Outport
	  Name			  "y"
	  Position		  [310, 48, 340, 62]
	}
	Line {
	  SrcBlock		  "Position"
	  SrcPort		  1
	  Points		  [20, 0]
	  Branch {
	    DstBlock		    "y"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 110]
	    DstBlock		    "Gravity"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "u"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Velocity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gravity"
	  SrcPort		  1
	  Points		  [-120, 0; 0, -110]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Velocity"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Position"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "Friction"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Friction"
	  SrcPort		  1
	  Points		  [-35, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
      }
    }
    Block {
      BlockType		      UniformRandomNumber
      Name		      "Random Reference"
      Position		      [40, 39, 70, 71]
      Minimum		      "-0.5"
      Maximum		      "0.5"
      Seed		      "round(now)"
      SampleTime	      "10"
    }
    Block {
      BlockType		      SubSystem
      Name		      "XY Graph"
      Ports		      [3]
      Position		      [695, 62, 730, 108]
      CopyFcn		      "sfunxy2([],[],[],'CopyBlock')"
      DeleteFcn		      "sfunxy2([],[],[],'DeleteBlock')"
      LoadFcn		      "sfunxy2([],[],[],'LoadBlock')"
      StartFcn		      "sfunxy2([],[],[],'Start')"
      StopFcn		      "sfunxy2([],[],[],'Stop')"
      NameChangeFcn	      "sfunxy2([],[],[],'NameChange')"
      TreatAsAtomicUnit	      off
      MaskType		      "XY scope."
      MaskDescription	      "XY scope using MATLAB graph window.  First inpu"
"t is used as time base.  Enter plotting ranges."
      MaskHelp		      "This block can be used to explore limit cycles."
" Look at the m-file sfunxy.m to see how it works."
      MaskPromptString	      "x-min:|x-max:|y-min:|y-max:|Sample time:"
      MaskStyleString	      "edit,edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on,on"
      MaskCallbackString      "||||"
      MaskEnableString	      "on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on"
      MaskVarAliasString      ",,,,"
      MaskVariables	      "xmin=@1;xmax=@2;ymin=@3;ymax=@4;st=@5;"
      MaskDisplay	      "plot([.05 .95 .95 .05 .05],[.45 .45 .95 .95 .45"
"], 0.5+cos(0:0.1:2*pi)*0.3,0.7+sin(0:0.1:2*pi)*0.2)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "0|5|-1|1|-1"
      System {
	Name			"XY Graph"
	Location		[82, 157, 342, 335]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [25, 27, 55, 43]
	}
	Block {
	  BlockType		  Inport
	  Name			  "y1"
	  Position		  [25, 67, 55, 83]
	  Port			  "2"
	}
	Block {
	  BlockType		  Inport
	  Name			  "y2"
	  Position		  [25, 107, 55, 123]
	  Port			  "3"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [105, 48, 135, 102]
	  ShowName		  off
	  Inputs		  "3"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "sfunxy"
	  Ports			  [1]
	  Position		  [175, 65, 225, 85]
	  ShowName		  off
	  FunctionName		  "sfunxy2"
	  Parameters		  "[xmin xmax ymin ymax], st"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "sfunxy"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  Points		  [15, 0; 0, 20]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "y1"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "y2"
	  SrcPort		  1
	  Points		  [15, 0; 0, -20]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
      }
    }
    Line {
      Name		      "Angle"
      Labels		      [0, 0]
      SrcBlock		      "Plant\n(Robot Arm)"
      SrcPort		      1
      Points		      [65, 0]
      Branch {
	DstBlock		"XY Graph"
	DstPort			2
      }
      Branch {
	Points			[0, 90; -435, 0; 0, -65]
	DstBlock		"Model Reference Controller"
	DstPort			2
      }
    }
    Line {
      Name		      "Torque"
      Labels		      [0, 0]
      SrcBlock		      "Model Reference Controller"
      SrcPort		      1
      DstBlock		      "Plant\n(Robot Arm)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      Points		      [20, 0; 0, 25]
      DstBlock		      "XY Graph"
      DstPort		      1
    }
    Line {
      Labels		      [1, 0]
      SrcBlock		      "Random Reference"
      SrcPort		      1
      Points		      [70, 0]
      Branch {
	DstBlock		"Model Reference Controller"
	DstPort			1
      }
      Branch {
	Points			[0, 140; 520, 0; 0, -95]
	DstBlock		"XY Graph"
	DstPort			3
      }
    }
    Annotation {
      Name		      "Neural Network Model Reference Control of a Rob"
"ot Arm\n(Double click on the \"?\" for more info)"
      Position		      [208, 237]
    }
    Annotation {
      Name		      "To start and stop the simulation, use the \"Sta"
"rt/Stop\"\nselection in the \"Simulation\" pull-down menu"
      Position		      [211, 282]
    }
  }
}