机器人控制系统matlab仿真7

function [sys,x0,str,ts] = spacemodel(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 1, sys=mdlDerivatives(t,x,u); case 3, sys=mdlOutputs(t,x,u); case {2,4,9} sys=[]; otherwise error(['Unhandled flag = ',num2str(flag)]); end function [sys,x0,str,ts]=mdlInitializeSizes global nmn nmn=10*eye(2); sizes = simsizes; sizes.NumContStates = 10; sizes.NumDiscStates = 0; sizes.NumOutputs = 4; sizes.NumInputs = 6; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 1; sys = simsizes(sizes); x0 = [0.1*ones(10,1)]; str = []; ts = [0 0]; function sys=mdlDerivatives(t,x,u) global nmn qd1=u(1);qd2=u(2); dqd1=0;dqd2=0; ddqd1=0;ddqd2=0; dqd=[dqd1;dqd2]; ddqd=[ddqd1;ddqd2]; q1=u(3);dq1=u(4); q2=u(5);dq2=u(6); e1=q1-qd1; e2=q2-qd2; e=[e1;e2]; de1=dq1-dqd1; de2=dq2-dqd2; de=[de1;de2]; s=de+nmn*e; fsd1=0;fsd2=0; for l1=1:1:5 gs1=-[(s(1)+pi/6-(l1-1)*pi/12)/(pi/24)]^2; u1(l1)=exp(gs1); end for l1=1:1:5 fsu1(l1)=u1(l1); fsd1=fsd1+u1(l1); end fs1=fsu1/(fsd1+0.001); for l2=1:1:5 gs2=-[(s(2)+pi/6-(l2-1)*pi/12)/(pi/24)]^2; u2(l2)=exp(gs2); end for l2=1:1:5 fsu2(l2)=u2(l2); fsd2=fsd2+u2(l2); end fs2=fsu2/(fsd2+0.001); Q1=s(1)*fs1; Q2=s(2)*fs2; for i=1:1:5 sys(i)=Q1(i); sys(i+5)=Q2(i); end function sys=mdlOutputs(t,x,u) global nmn qd1=u(1);qd2=u(2); dqd1=0;dqd2=0; ddqd1=0;ddqd2=0; dqd=[dqd1;dqd2]; ddqd=[ddqd1;ddqd2]; q1=u(3);dq1=u(4); q2=u(5);dq2=u(6); dq=[dq1;dq2]; e1=q1-qd1; e2=q2-qd2; e=[e1;e2]; de1=dq1-dqd1; de2=dq2-dqd2; de=[de1;de2]; % The model is given by Slotine and Weiping Li(MIT 1987) alfa=6.7;beta=3.4; epc=3.0;eta=0; m1=1;l1=1; lc1=1/2;I1=1/12; g=9.8; e1=m1*l1*lc1-I1-m1*l1^2; e2=g/l1; M=[alfa+2*epc*cos(q2)+2*eta*sin(q2),beta+epc*cos(q2)+eta*sin(q2); beta+epc*cos(q2)+eta*sin(q2),beta]; C=[(-2*epc*sin(q2)+2*eta*cos(q2))*dq2,(-epc*sin(q2)+eta*cos(q2))*dq2; (epc*sin(q2)-eta*cos(q2))*dq1,0]; G=[epc*e2*cos(q1+q2)+eta*e2*sin(q1+q2)+(alfa-beta+e1)*e2*cos(q1); epc*e2*cos(q1+q2)+eta*e2*sin(q1+q2)]; M0=0.5*M; C0=0.5*C; G0=0.5*G; s=de+nmn*e; dqr=dqd-nmn*e; ddqr=ddqd-nmn*de; for i=1:1:5 thta1(i,1)=x(i); end for i=1:1:5 thta2(i,1)=x(i+5); end fsd1=0;fsd2=0; for l1=1:1:5 gs1=-[(s(1)+pi/6-(l1-1)*pi/12)/(pi/24)]^2; u1(l1)=exp(gs1); end for l1=1:1:5 fsu1(l1)=u1(l1); fsd1=fsd1+u1(l1); end fs1=fsu1/(fsd1+0.001); k1=thta1'*fs1'; for l2=1:1:5 gs2=-[(s(2)+pi/6-(l2-1)*pi/12)/(pi/24)]^2; u2(l2)=exp(gs2); end for l2=1:1:5 fsu2(l2)=u2(l2); fsd2=fsd2+u2(l2); end fs2=fsu2/(fsd2+0.001); k2=thta2'*fs2'; A=150*eye(2); S=2; if S==1 K=[100 0;100 0];; tol=M0*ddqr+C0*dqr+G0-A*s-K*sign(s); elseif S==2 %Adaptive fuzzy gain K=1*[k1 k2]'; tol=M0*ddqr+C0*dqr+G0-A*s-K; end sys(1)=tol(1); sys(2)=tol(2); sys(3)=K(1); sys(4)=K(2);