. p& H, n F" Hclear all;% P$ e9 A2 S- {& ~
close all;& E( C; ^4 |' }1 N0 Y. R, U, Q! }8 j
a=59.36;b=7.42;m=2374.46;n=296.92;* ^0 p J/ D. u
ts=0.001;4 B& ]$ y3 p: X2 |1 q9 h- ?* Z, O3 \
A1=[0,0,1,0;0,0,0,1;a,-b,0,0;b,-a,0,0]; % E) E( \2 w: e9 I- kB1=[0,0;0,0;m,-n;n,-m]; ( o7 `/ L4 X7 W5 w/ |! U# @; ~/ OC1=[1,0,0,0];$ a5 c% m* r4 g3 O4 C8 F* c9 T' q
D1=[0,0]; 1 I8 E% Y3 H8 M[A,B,C,D]=c2dm(A1,B1,C1,D1,ts,'z'); 1 r1 U! `6 p6 ?1 b @- S) e. o: ~x=[0;0;0;0]; + \( Y+ }& |" @* B, |r_1=0;r_2=0;g_1=0;g_2=0;3 {1 ^9 @0 A8 k% L
c1=5.0;c2=5.0;9 M( G% F, Q) y2 c
eq=5; ( v% M, w. j9 \9 X1 _; Uq=30;' r6 h2 K1 x8 ]" S- n
Ce=[c1,0,1,0;0,c2,0,1];3 o3 ]5 {, P. ?& p
for k=1:1:2000 ! n' z- B0 t6 Y2 t A! Utime(k)=k*ts;7 x6 L7 N2 o& T9 e$ x
r(k)=1.0;/ N$ P& J3 z! ~0 `- Q" T, O
g(k)=1.0; , P G/ ~7 Y! x! }: Q : `8 }$ W6 x4 c) V. m/ _ %Using Waitui method - Z# r+ O2 ^# ^ dr(k)=(r(k)-r_1)/ts; + E+ C1 r5 J( e' L8 ? dg(k)=(g(k)-g_1)/ts; 9 m5 M3 g" r( S8 w; K: ^8 d dr_1=(r_1-r_2)/ts; % i7 j7 Q/ d( Y dg_1=(g_1-g_2)/ts;9 P5 {" s6 }8 ~& M d
r1(k)=2*r(k)-r_1; 7 M) u- H4 D$ G g1(k)=2*g(k)-g_1; $ W0 ^- {, d5 g3 L dr1(k)=2*dr(k)-dr_1; 1 _0 w$ h& w) ]7 P9 A0 T3 w dg1(k)=2*dg(k)-dg_1;" L, c/ R) N& u4 E+ Q. o. B
+ Q/ a! B) `" O6 t7 v R=[r(k);g(k);dr(k);dg(k)];7 j& j L, x; J3 D4 ~; T" D+ k; ~% _
R1=[r1(k);g1(k);dr1(k);dg1(k)];: s% e: O6 {$ \- y
. ]! F/ L/ {1 n0 P8 [' c& @
E=R-x; + {- T$ K& g t- y' E e(k)=E(1); ) X5 L% n# G8 h R de(k)=E(2); x0 `7 a1 d* H- f. l% x; g
# r, @: x8 q# h) h, h j# ^ s(k)=Ce*E; ' w: n5 k1 u0 v' f- K
X1=abs(e(k))+abs(de(k));2 J6 \- I+ I* E# J f
, S \. h. {! ^( k1 YM=3; - J, b( D' ] @9 I9 ^- g7 D# @- Cif M==1 %EXP reaching law . G/ K3 U' f# U0 Z' w0 g ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);) @$ z& p. c' s7 D6 m
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));* E- _- h5 K9 F8 Y2 t' L
elseif M==2 %Variable rate reachine law # m/ i5 `& z: B/ t9 U ds(k)=-eq*ts*X1*sign(s(k));4 C$ ?6 m$ c( ?4 M. X' A1 M' \. f
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));' K2 F# M( r" j$ _" t
elseif M==3 %Coposite reaching law# d) t: s B R k
k0=0.60;$ O1 E( D: F9 H% u# D
if X1>k0 %EXP reachine law( `: _, G6 h5 |. A9 ]
ds(k)=-eq*ts*sign(s(k))-q*ts*s(k); # G# ^# M4 ~( Y$ l+ j u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));& K l/ k2 |8 O v% a
elseif X1<=k0 %Variable rate reachine law$ K/ C. N; o6 v! y* y! g; P
ds(k)=-eq*ts*X1*sign(s(k)); 0 t i5 G; s2 ]0 K$ M& i& c: ~! ` u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k)); & W1 e) o9 V0 ^ end& D* {( E5 j$ o+ L. @+ g3 Y7 @& K
end 8 `4 B9 @ ?' }9 v$ vif u(k)>=101 y: X3 C, p! d" v5 D5 h
u(k)=10; 0 ~; w/ L! s8 |end % R2 A% G3 W+ x( y1 Mif u(k)<=-10$ S$ f6 d- f/ k' }# X3 U5 G
u(k)=-10;1 K# ~( W- [8 P$ F. e9 q9 a
end2 s- ?! \# ]' ?2 j! b$ I
x=A*x+B*u(k); + s) f1 J/ j9 B& Ky(k)=x(1);1 j0 f$ r% Q$ F" Q- v/ S7 h% G
%Update Parameters0 j9 R# p( h6 n- s3 p. z9 i, K
r_2=r_1;) N6 t' y2 b2 [) H1 R3 w; [
r_1=r(k); 6 f9 S+ L9 P L1 P7 S5 M( w# }6 Z2 dend, c) p3 W7 _; A$ ^' O% k
figure(1) 5 U3 V; Y1 ]" W! Pplot(time,r,'r',time,y,'b'); , |( @1 S0 a: a2 P9 Txlabel('Time(second)');ylabel('Position tracking');8 [3 B+ K% Y; S- J6 W/ h/ }
figure(2) 3 j4 j5 _- C! G9 o6 b2 [plot(time,s,'r');( K+ U: f8 x9 k9 d
xlabel('Time(second)');ylabel('Switch function s'); % B% c+ _4 r* e5 {figure(3) e2 Z1 F1 A; S* U1 B% R( D7 R8 V
plot(e,de,'r',e,-c*e,'b');) M' I8 J* E( m# k) G7 b! |
axis([0,0.001,-0.01,0]); : V+ H- G* r" O1 I3 q" hxlabel('e');ylabel('de');2 D/ Z% t8 T& \2 l3 C
figure(4): N& |( w; o/ e* `) F3 ?
plot(time,u,'r'); ( Q2 ?; L* ^% x( ]xlabel('Time(second)');ylabel('u');, T6 Y5 I8 r( U) a- r
+ |! k( r4 L- L6 L$ |2 B??? In an assignment A(I) = B, the number of elements in B and * {, g l+ l# K* H- O& aI must be the same. 6 q+ W8 D0 L0 L. p1 E- S. PError in ==> matlab02 at 40) u4 } e+ _! j ]5 ~+ E$ F, e: C
s(k)=Ce*E;作者: deven1985 时间: 2011-9-17 15:48
补充一下：当我把错误行中的“s(k)=Ce*E”换成“s=Ce*E”后，错误就没有了，这是为什么？谢谢大家了！作者: 厚积薄发 时间: 2011-9-17 16:56
维数不匹配作者: 都天锴 时间: 2012-12-15 12:01
不知道。。。。