mirror of
https://github.com/ohmyjesus/RBF_NeuralNetwork.git
synced 2026-02-05 11:09:47 +08:00
98 lines
2.4 KiB
Matlab
98 lines
2.4 KiB
Matlab
function [sys,x0,str,ts] = B2(t,x,u,flag)
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switch flag
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case 0 %初始化
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[sys,x0,str,ts]=mdlInitializeSizes;
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case 1 %连续状态计算
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sys=mdlDerivatives(t,x,u);
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case {2,4,9} %离散状态计算，下一步仿真时刻，终止仿真设定
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sys=[];
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case 3 %输出信号计算
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sys=mdlOutputs(t,x,u);
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otherwise
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DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
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end
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function [sys,x0,str,ts]=mdlInitializeSizes %系统的初始化
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sizes = simsizes;
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sizes.NumContStates = 4; %设置系统连续状态的变量
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sizes.NumDiscStates = 0; %设置系统离散状态的变量
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sizes.NumOutputs = 4; %设置系统输出的变量
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sizes.NumInputs = 2; %设置系统输入的变量
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sizes.DirFeedthrough = 0; %如果在输出方程中显含输入变量u，则应该将本参数设置为1
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sizes.NumSampleTimes = 0; % 模块采样周期的个数
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% 需要的样本时间，一般为1.
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% 猜测为如果为n，则下一时刻的状态需要知道前n个状态的系统状态
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sys = simsizes(sizes);
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x0 = [0.6 0.3 0.5 0.5]; % 系统初始状态变量
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str = []; % 保留变量，保持为空
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ts = []; % 采样时间[t1 t2] t1为采样周期，如果取t1=-1则将继承输入信号的采样周期；参数t2为偏移量，一般取为0
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function sys=mdlDerivatives(t,x,u) %该函数仅在连续系统中被调用，用于产生控制系统状态的导数
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persistent ddx1 ddx2
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if t == 0
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ddx1 = 0;
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ddx2 = 0;
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end
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% 角度跟踪指令
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qd1 = 1+0.2*sin(0.5*pi*t);
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qd2 = 1-0.2*cos(0.5*pi*t);
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dqd1 = 0.1*pi*cos(0.5*pi*t);
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dqd2 = 0.1*pi*sin(0.5*pi*t);
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e1 = x(1) - qd1;
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e2 = x(3) - qd2;
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de1 = x(2) - dqd1;
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de2 = x(4) - dqd2;
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q1 = x(1);
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q2 = x(3);
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dq1 = x(2);
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dq2 = x(4);
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% 参数的定义
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v = 13.33;
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a1 = 8.98;
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a2 = 8.75;
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g = 9.8;
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M = [v+a1+2*a2*cos(q2) a1+a2*cos(q2);
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a1+a2*cos(q2) a1];
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C = [-a2*dq2*sin(q2) -a2*(dq1 + dq2)*sin(q2);
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a2*dq1*sin(q2) 0];
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G = [15*g*cos(q1)+8.75*g*cos(q1+q2);
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8.75*g*cos(q1+q2)];
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deltam = 0.2*M;
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deltac = 0.2*C;
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deltag = 0.2*G;
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d1 = 2;
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d2 = 3;
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d3 = 6;
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d = d1 + d2 * norm([e1;e2]) + d3 * norm([de1; de2]);
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tol(1) = u(1); %力矩1
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tol(2) = u(2); %力矩2
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dq = [x(2); x(4)];
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ddq = [ddx1; ddx2];
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f = inv(M) * (deltam * ddq + deltac * dq + deltag + d);
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ddx = inv(M) * (tol' - C* dq - G) + f;
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sys(1) = x(2);
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sys(2) = ddx(1);
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sys(3) = x(4);
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sys(4) = ddx(2);
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ddx1 = ddx(1);
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ddx2 = ddx(2);
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function sys=mdlOutputs(t,x,u) %产生（传递）系统输出
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sys(1) = x(1); %q1
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sys(2) = x(2); %dq1
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sys(3) = x(3); %q2
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sys(4) = x(4); %dq2
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