【悬架仿真】基于matlab滑模控制主动悬架仿真分析【含Matlab源码 8899期】.zip

%% Matlab SIMULINK and STATEFLOW is used to show sliding mode controller demo % find feedback needed to achieve hyperbolic and unstable oscilating behaviour clear, clc, close all % clear screen and memory global ic Tfinal options ; disp('wait for graphic window with menu and axis') sysgenOscStab_; % state space model of movement of platform mobile carying welding robot %% Modify object to have unstable oscilations % wwosc=input('a+bi= '), wwosc=5+10j kOsc=acker(A,B,[wwosc wwosc']); kOsc1=kOsc(1);kOsc2=kOsc(2); Aosc=A-B*kOsc; sysOsc=ss(Aosc,B,C,D); % see output %step(sysOsc,1) %% Modify object to have unstable saddle point and hyperbolic trajectory %disp('podaj dwa a+/-bi dla punktu siodlowego, np 9+0j, -16+0j ') wwhip1=9; wwhip2=-16; %input('a+bi= ') kHip=place(A,B,[wwhip1 wwhip2]), kHip1=kHip(1); kHip2=kHip(2); Ahip=A-B*kHip sysHip=ss(Ahip,B,C,D); % see output % step(sysHip,1) %figure, initial(sysHip,[.1,.1]), txt='to STOP press right mouse button and than close the window'; ic=[0,0];% disp('wait for graphic window with menu and axis') %% Show simulink model and window used to draw unstable trajectories of platform slid_tst_ % phase00_ % draw graphic window disp('wait for graphic window with menu and axis It may take 5 minutes or more') phaseH_ disp('unstable hyperbolic trajectories (saddle) are drown in background') pause(2) phaseO_ disp('unstable oscilations are drown in background') pause(2) phaseSS_ disp('slant switching line is drown in background') disp('sliding mode controller is ready') disp('object state will move along unstable trajectory to swithing line') disp('and then will slide near switching line to get quickly to [0,0] point') pause(2) phaseSLI_ hold off