dawu.m

小车位移的模拟仿真实现,分为带PID和不带PID的仿真,并用GUI予以直观表达,平台matlab6.5,欢迎大家下载交流

function varargout = dawu(varargin)
% DAWU M-file for dawu.fig
%      DAWU, by itself, creates a new DAWU or raises the existing
%      singleton*.
%
%      H = DAWU returns the handle to a new DAWU or the handle to
%      the existing singleton*.
%
%      DAWU('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in DAWU.M with the given input arguments.
%
%      DAWU('Property','Value',...) creates a new DAWU or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before dawu_OpeningFunction gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to dawu_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help dawu

% Last Modified by GUIDE v2.5 13-Apr-2009 15:08:58

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @dawu_OpeningFcn, ...
                   'gui_OutputFcn',  @dawu_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin & isstr(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before dawu is made visible.
function dawu_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to dawu (see VARARGIN)

% Choose default command line output for dawu
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes dawu wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = dawu_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --- Executes on button press in pinoff.
function pinoff_Callback(hObject, eventdata, handles)
% hObject    handle to pinoff (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
[t,x,y]=sim('pidoff');
plot(t,y);

xg=get(handles.xgrid,'value');
if xg==1
    set(handles.axes1,'XGrid','on');
else
    set(handles.axes1,'XGrid','off');
end
yg=get(handles.ygrid,'value');
if yg==1
    set(handles.axes1,'YGrid','on');
else
    set(handles.axes1,'YGrid','off');
end

m=(max(y)-2.5)/2.5*100;                          %
del=num2str(m);
set(handles.edit4,'string',del);

k1=find(y-2.5*0.05>0);
k2=find(y-2.5*0.95>0);
tr=num2str(t(k2(1))-t(k1(1)));
set(handles.edit5,'string',tr);

e0=(y(end)-2.5);
e=num2str(100*e0);
set(handles.edit6,'string',e);

title('当前模式:无PID');
xlabel('time/sec');
ylabel('X(t)/m');

% --- Executes on button press in pidon.
function pidon_Callback(hObject, eventdata, handles)
% hObject    handle to pidon (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
[t,x,y]=sim('pidon');
kp=get(handles.edit1,'string');                             
set_param('pidon/Subsystem/Gain','gain',kp);
ki=get(handles.edit2,'string');                             
set_param('pidon/Subsystem/Gain1','gain',ki);
kd=get(handles.edit3,'string');                             
set_param('pidon/Subsystem/Gain2','gain',kd);

[t,x,y]=sim('pidon');
plot(t,y);

xg=get(handles.xgrid,'value');
if xg==1
    set(handles.axes1,'XGrid','on');
else
    set(handles.axes1,'XGrid','off');
end
yg=get(handles.ygrid,'value');
if yg==1
    set(handles.axes1,'YGrid','on');
else
    set(handles.axes1,'YGrid','off');
end

m=(max(y)-2.5)/2.5*100;                          %
del=num2str(m);
set(handles.edit4,'string',del);

k1=find(y-2.5*0.05>0);
k2=find(y-2.5*0.95>0);
tr=num2str(t(k2(1))-t(k1(1)));
set(handles.edit5,'string',tr);

e0=(y(end)-2.5);
e=num2str(100*e0);
set(handles.edit6,'string',e);

title('当前模式:带PID');
xlabel('time/sec');
ylabel('X(t)/m');

% --- Executes on button press in xgrid.
function xgrid_Callback(hObject, eventdata, handles)
% hObject    handle to xgrid (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of xgrid
xg=get(handles.xgrid,'value');
if xg==1
    set(handles.axes1,'XGrid','on');
else
    set(handles.axes1,'XGrid','off');
end

% --- Executes on button press in ygrid.
function ygrid_Callback(hObject, eventdata, handles)
% hObject    handle to ygrid (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of ygrid
yg=get(handles.ygrid,'value');
if yg==1
    set(handles.axes1,'YGrid','on');
else
    set(handles.axes1,'YGrid','off');
end


% --- Executes during object creation, after setting all properties.
function edit1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit1_Callback(hObject, eventdata, handles)
% hObject    handle to edit1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of edit1 as text
%        str2double(get(hObject,'String')) returns contents of edit1 as a double


% --- Executes during object creation, after setting all properties.
function edit2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit2_Callback(hObject, eventdata, handles)
% hObject    handle to edit2 (see GCBO)