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

% 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 edit2 as text
%        str2double(get(hObject,'String')) returns contents of edit2 as a double


% --- Executes during object creation, after setting all properties.
function edit3_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit3 (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 edit3_Callback(hObject, eventdata, handles)
% hObject    handle to edit3 (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 edit3 as text
%        str2double(get(hObject,'String')) returns contents of edit3 as a double


% --- Executes during object creation, after setting all properties.
function edit4_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit4 (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 edit4_Callback(hObject, eventdata, handles)
% hObject    handle to edit4 (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 edit4 as text
%        str2double(get(hObject,'String')) returns contents of edit4 as a double


% --- Executes during object creation, after setting all properties.
function edit5_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit5 (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 edit5_Callback(hObject, eventdata, handles)
% hObject    handle to edit5 (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 edit5 as text
%        str2double(get(hObject,'String')) returns contents of edit5 as a double


% --- Executes during object creation, after setting all properties.
function edit6_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit6 (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 edit6_Callback(hObject, eventdata, handles)
% hObject    handle to edit6 (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 edit6 as text
%        str2double(get(hObject,'String')) returns contents of edit6 as a double


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


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


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


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


% --------------------------------------------------------------------
function x_grid_Callback(hObject, eventdata, handles)
% hObject    handle to x_grid (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
xg=get(handles.xgrid,'value');
if xg==1
    set(handles.xgrid,'value',0);
else
    set(handles.xgrid,'value',1);
end
xgrid_Callback(hObject, eventdata, handles);

% --------------------------------------------------------------------
function y_grid_Callback(hObject, eventdata, handles)
% hObject    handle to y_grid (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
yg=get(handles.ygrid,'value');
if yg==1
    set(handles.ygrid,'value',0);
else
    set(handles.ygrid,'value',1);
end
ygrid_Callback(hObject, eventdata, handles)


% --------------------------------------------------------------------
function instructions_Callback(hObject, eventdata, handles)
% hObject    handle to instructions (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
hf=figure('Menubar','none','Name','系统介绍','NumberTitle','off',...
    'Position',[100,200,400,200]);
uicontrol(hf,'Style','Text','Position',[5,180,400,20],...
    'String',' 小车模拟位移模拟系统');
uicontrol(hf,'Style','Text','Position',[5,160,400,20],'Horizontal','left',...
    'String','        初始状态下，质量为m的小车静止在地面上，弹簧处于松弛状态。');
uicontrol(hf,'Style','Text','Position',[5,140,400,20],'Horizontal','left',...
    'String','        现给小车施加一恒定水平向右的力F，此时，小车受到弹簧弹力f1,f2');
uicontrol(hf,'Style','Text','Position',[5,120,400,20],'Horizontal','left',...
    'String','和摩擦力f作用,产生位移  X（t）和加速度a。设水平向右为正方向。');
uicontrol(hf,'Style','Text','Position',[5,100,400,20],'Horizontal','left',...
    'String','        现对小车位移X（t）进行仿真,仿真时间120秒。另构造PID控制器仿真');
uicontrol(hf,'Style','Text','Position',[5,80,400,20],'Horizontal','left',...
    'String','模型， Kp、Ki、Kd三个系数可以通过参数设置窗口设定。仿真时间120秒');
uicontrol(hf,'Style','Text','Position',[5,40,400,20],'Horizontal','left',...
    'String','        要求:上升时间：<5 Sec ,   超调量：<10% ,    稳态误差：<2%');


% --- Executes on button press in both.
function both_Callback(hObject, eventdata, handles)
% hObject    handle to both (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',[25]);
plot(t,y);
hold on;

[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);
hold off;

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

set(handles.edit4,'string','0.000');
set(handles.edit5,'string','0.000');
set(handles.edit6,'string','0.000');

title('当前模式:同时显示');
xlabel('time/sec');
ylabel('X(t)/m');