无人机管理与控制系统附matlab代码.zip

function varargout = GUI_F16(varargin) % GUI_F16 M-file for GUI_F16.fig % GUI_F16, by itself, creates a new GUI_F16 or raises the existing % singleton*. % % H = GUI_F16 returns the handle to a new GUI_F16 or the handle to % the existing singleton*. % % GUI_F16('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in GUI_F16.M with the given input arguments. % % GUI_F16('Property','Value',...) creates a new GUI_F16 or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before GUI_F16_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to GUI_F16_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help GUI_F16 % Last Modified by GUIDE v2.5 26-Dec-2015 21:17:58 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @GUI_F16_OpeningFcn, ... 'gui_OutputFcn', @GUI_F16_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before GUI_F16 is made visible. function GUI_F16_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to GUI_F16 (see VARARGIN) str0 = '利用高保真模型，选择配平状态：'; str1 = ' 高度：15000ft'; str2 = ' 速度：600ft/s'; str = [str0 10 str1 10 str2]; set(handles.Uipanel_Text,'Title','初始状态说明'); set(handles.Text_Remmond,'String',str); axes(handles.Axes_Apendix); axis off; % Choose default command line output for GUI_F16 handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes GUI_F16 wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = GUI_F16_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; %% --- Executes on button press in BtnOriginalSystem. function BtnOriginalSystem_Callback(hObject, eventdata, handles) % hObject handle to BtnOriginalSystem (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) run sys_data; set(handles.Uipanel_Pole,'Title','原系统零极点图'); axes(handles.Axes_Pole); pzmap(sys); % 画原系统的零极点分布图 grid on; set(handles.Uipanel_Response,'Title','原系统脉冲响应曲线'); axes(handles.Axes_Response); impulse(sys,1000); % 画出阶跃响应 grid on; p_zpk = zpk(sys); p = p_zpk.p{:}; % 原系统的极点 set(handles.Uipanel_Text,'Title','原系统极点、稳定性及能控能观性判断'); p1 = p(1); p2 = p(2); p3 = p(3); p4 = p(4); p5 = p(5); %判断稳定性 str_stable = '由于原系统所有极点在左半平面，所以原系统稳定'; for i = 1:1:5 if real(p(i))>0 str_stable = '由于原系统有不在左半平面的极点，所以原系统李雅普诺夫意义下渐进不稳定'; break; end end str1 = ['p1 = ' num2str(p1)]; str2 = ['p2 = ' num2str(p2)]; str3 = ['p3 = ' num2str(p3)]; str4 = ['p4 = ' num2str(p4)]; str5 = ['p5 = ' num2str(p5)]; %用李雅普诺夫法判定系统稳定性 qlya = diag([1 1 1 1 1]); plya = lyap(A_long_5states,qlya); d(1) = det(plya(1,1)); d(2) = det(plya(1:2,1:2)); d(3) = det(plya(1:3,1:3)); d(4) = det(plya(1:4,1:4)); d(5) = det(plya(1:5,1:5)); str_lya = '用李雅普诺夫法判断，由于P是正定阵，所以原系统稳定'; for i = 1:1:5 if d(i)<0 str_lya = '用李雅普诺夫法判断，由于P不是正定阵，所以原系统不稳定'; break; end end % 能控能观性判断 M_A = rank(A_long_5states); M_A_K = rank(ctrb(A_long_5states,B_long_5states)); if M_A == M_A_K str_nengkong = ('由于rank(ctrb(A,B)) = n = 5,原系统能控'); else str_nengkong = ('由于rank(ctrb(A,B))! = n = 5,原系统不能控'); end M_A_G = rank(obsv(A_long_5states,C_long_5states)); if M_A == M_A_G str_nengguan = ('由于rank(obsv(A,C)) = n = 5,原系统能观'); else str_nengguan = ('由于rank(obsv(A,C))! = n = 5,原系统不能观'); end str = [ 10 str1 10 str2 10 str3 10 str4 10 str5 10 str_stable 10 str_lya 10 str_nengkong 10 str_nengguan];%显示信息 set(handles.Text_Remmond,'String',str); %set(handles.Uipanel_Apendix,'Title','原系统状态空间方程'); %I = imread('Linear_State.jpg'); %自动选择打开图片 axes(handles.Axes_Apendix); %image(I); axis off; %% --- Executes on button press in BtnPlacePole. function BtnPlacePole_Callback(hObject, eventdata, handles) % hObject handle to BtnPlacePole (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) run sys_data; p1 = -2 + 0.9i; % 期望极点 p2 = -2 - 0.9i; p3 = -1 + 0.4i; p4 = -1 - 0.4i; p5 = -5; p = [p1;p2;p3;p4;p5]; str0 = ('选择的极点如下：'); str1 = ['p1 = ' num2str(p1)]; str2 = ['p2 = ' num2str(p2)]; str3 = ['p3 = ' num2str(p3)]; str4 = ['p4 = ' num2str(p4)]; str5 = ['p5 = ' num2str(p5)]; str_stable = '由于配置极点后所有极点在左半平面，所以系统稳定'; for i = 1:1:5 if real(p(i))>0 str_stable = '由于配置极点后系统有在右半平面的极点，所以系统不稳定'; break; end end P = [p1;p2;p3;p4;p5]; % 进行极点配置 K_Place = place(A_long_5states,B_long_5states,P); A_long_5states_place = A_long_5states - B_long_5states * K_Place; sys_place = ss(A_long_5states_place,B_long_5states,C_long_5states,D_long_5states,'statename',states,'inputname',inputs,'outputname',outputs); set(handles.Uipanel_Pole,'Title','配置极点后系统零极点图'); axes(handles.Axes_Pole); pzmap(sys_place); % 极点配置后系统零极点图 grid on; set(handles.Uipanel_Response,'Title','配置极点后系统脉冲响应曲线'); axes(handles.Axes_Response); impulse(sys_place,50); % 极点配置后系统响应 grid on; set(handles.Uipanel_Text,'Title','配置极点后极点、稳定性判断'); str = [ str0 10 str1 10 str2 10 str3 10 str4 10 str5 10 10 str_stable ];%显示信息 set(handles.Text_Remmond,'String',str); %set(handles.Uipanel_Apendix,'Title','极点配置模型'); %I = imread('pole_place.jpg'); %自动选择打开图片 axes(handles.Axes_Apendix); %image(I); axis off; %% --- Executes on button press in BtnPoleSelect. function BtnPoleSelect_Callback(hObject, eventdata, handles) % hObject handle to BtnPoleSelect (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) run sys_data; prompt={'第一对共轭极点之一(如:-1-i)','第二对共轭极点之一(如:-0.1+0.1i)','输入实极点(如:-0.12)'}; defans={'-1-i','-0.1+0.i','-0.12'}; options.Resize='on'; options.WindowStyle='modal'; options.Interpreter='tex'; n=inputdlg(prompt,'输入极点',1,defans,options