基于Matlab实现对四旋翼进行动力学仿真matlab完整源码(s-function编写控制器代码).zip

% When I wrote this, only God and I understood what I was doing % Now, only god knows % Quadrotor altitude controller based on sliding mode function [sys,x0,str,ts] = AltitudeSMC(t, x, u, flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; % 调用初始化子函数 case 1, sys=[]; case 2, sys=[]; case 3, sys=mdlOutputs(t,x,u); %计算输出子函数 case 4, sys=[]; %计算下一仿真时刻子函数 case 9, sys=[]; %终止仿真子函数 otherwise DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag)); end function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes %初始化子函数 sizes = simsizes; sizes.NumContStates = 0; %连续状态变量个数 sizes.NumDiscStates = 0; %离散状态变量个数 sizes.NumOutputs = 1; %输出变量个数 sizes.NumInputs = 2; %输入变量个数 sizes.DirFeedthrough = 1; %输入信号是否在输出子函数中出现 sizes.NumSampleTimes = 0; % at least one sample time is needed sys = simsizes(sizes); x0 = []; %初始值 str = []; ts = []; %[0 0]用于连续系统，[-1 0]表示继承其前的采样时间设置 simStateCompliance = 'UnknownSimState'; function sys=mdlOutputs(t,x,u) %计算输出子函数 x1 = u(1); %position input x2 = u(2); %velocity input %desired % xd = 1 + sin(t); % dxd = cos(t); % ddxd = -szin(t); xd = 3; dxd = 0; ddxd = 0; e = xd - x1; de = dxd - x2; c = 10; s = c*e + de; g = 9.81; ita = 0.1; k = 1; m = 0.3108; Tth = m*(ddxd + g + c*(dxd - x2) + ita*tanh(s/0.1) + k*s); sys(1) = Tth;