导纳和阻抗控制仿真资源

function [sys,x0,str,ts] = admittance_ctrl(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 sizes = simsizes; sizes.NumContStates = 2; sizes.NumDiscStates = 0; sizes.NumOutputs = 2; sizes.NumInputs = 4; sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 0; sys = simsizes(sizes); x0 = [0 0]; str = []; ts = []; function sys = mdlDerivatives(t,x,u) % 质量与估计质量 % m = 1.0; % 单位：kg mhat = 0.8; % 单位：kg % 弹簧刚度 ke = 10; % 单位：N/m % % 粘性系数和库仑摩擦系数（coefficients of viscous and Coulomb friction） % cv = 1.0; % 单位：N*s/m % Fc = 3.0; % 单位：N % PD控制系数 kp = 1e6; % 单位：N/m % kd = 2*0.7*sqrt(kp*m); % 单位：N*s/m Md = mhat; % 单位：kg Kd = 100; % 单位：N/m Dd = 2*0.7*sqrt(kp*Md); % 单位：N*s/m % 设定值 X0 = u(1); dX0 = u(2); ddX0 = u(3); Fext = u(4); % Fext = -ke*X; Xd = x(1); dXd = x(2); ddXd = 1/Md*(Fext - Kd*(Xd-X0) - Dd*(dXd-dX0)) + ddX0; sys(1) = dXd; sys(2) = ddXd; function sys = mdlOutputs(t,x,u) sys(1) = x(1); sys(2) = x(2);