ztjz.m

倒立摆全套仿真程序

%计算系统状态空间方程
clc
clear
close all
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
M=0.5;%小车质量
m=0.5;%摆杆质量
b=0.1;%小车阻尼
l=0.3;%摆杆长度
I=0.006;%摆杆转动惯量
g=9.8;%重力加速度
A=[           0                   1 0             0;...
    (M+m)*m*g*l/((M+m)*I+M*m*l^2) 0 0 m*l*b/((M+m)*I+M*m*l^2);...
              0                   0 0             1;...
     -m^2*l^2*g/((M+m)*I+M*m*l^2) 0 0 -(I+m*l^2)*b/((M+m)*I+M*m*l^2)];
B=[0;-m*l/(((M+m)*I+M*m*l^2));0;(I+m*l^2)/((M+m)*I+M*m*l^2)];
C=[0 0 1 0;1 0 0 0];
D=zeros(2,1);