chap5_2ctrl.m

机器人控制仿真程序一书的所有源代码

function [sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
case 3,
    sys=mdlOutputs(t,x,u);
case {2,4,9}
    sys=[];
otherwise
    error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 2;
sizes.NumInputs      = 4;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [0 0];
function sys=mdlOutputs(t,x,u)
e1=u(1);e2=u(2);
de1=u(3);de2=u(4);

e=[e1 e2]';
de=[de1 de2]';

Kp=2.0;
Gama=0.95;
Kd=Gama*eye(2); 

Tol=Kp*e+Kd*de;         %PD Type

sys(1)=Tol(1);
sys(2)=Tol(2);