chap6_1plant.m

机器人控制仿真程序一书的所有源代码

function [sys,x0,str,ts]=s_function(t,x,u,flag)
switch flag,
case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
case 1,
    sys=mdlDerivatives(t,x,u);
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
global fx gx M
sizes = simsizes;
sizes.NumContStates  = 2;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 4;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;
sys=simsizes(sizes);
x0=[pi/60 0];
str=[];
ts=[];
M=2;
function sys=mdlDerivatives(t,x,u)
global fx gx M
if M==1
    g=9.8;m=1;l=0.25;d=2.0;
    I=4/3*m*l^2;
    fx=1/I*(-d*x(2)-m*g*l*cos(x(1)));
    gx=1/I;
elseif M==2
    g=9.8;mc=1.0;m=0.1;l=0.5;
    S=l*(4/3-m*(cos(x(1)))^2/(mc+m));
    fx=g*sin(x(1))-m*l*x(2)^2*cos(x(1))*sin(x(1))/(mc+m);
    fx=fx/S;
    gx=cos(x(1))/(mc+m);
    gx=gx/S;
end
sys(1)=x(2);
sys(2)=fx+gx*u;
function sys=mdlOutputs(t,x,u)
global fx gx M
if M==1
    g=9.8;m=1;l=0.25;d=2.0;
    I=4/3*m*l^2;
    fx=1/I*(-d*x(2)-m*g*l*cos(x(1)));
    gx=1/I;
elseif M==2
    g=9.8;mc=1.0;m=0.1;l=0.5;
    S=l*(4/3-m*(cos(x(1)))^2/(mc+m));
    fx=g*sin(x(1))-m*l*x(2)^2*cos(x(1))*sin(x(1))/(mc+m);
    fx=fx/S;
    gx=cos(x(1))/(mc+m);
    gx=gx/S;
end
sys(1)=x(1);
sys(2)=x(2);
sys(3)=fx;
sys(4)=gx;