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matthew_hit

新虫 (初入文坛)

应助: 0 (幼儿园)
金币: 36
帖子: 3
在线: 4.2小时
虫号: 3439660
注册: 2014-09-25
专业: 导航、制导与传感技术

[求助] RBF滑模变结构程序结果不对啊程序是刘金琨书上的

如

题我只有一个金币。。。和盘托出

自己也对过了没问题  程序也理解，就是结果怎么不对。。。这还是书上的程序

程序如下

function [sys,x0,str,ts] = spacemodel(t,x,u,flag)

switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
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  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs    = 3;
sizes.NumInputs    = 3;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [];

function sys=mdlOutputs(t,x,u)
persistent w w_1 w_2 m b

Gp=133;
Gmax=150;
Gmin=100;
alfa=sqrt(Gmax/Gmin)+1;

r=1;dr=0;ddr=0;

e=u(1);
de=u(2)-dr;
c=5;
s=c*e+de;

fp=-25*u(2);
F=5*abs(u(2));

D=50;

Up=-fp-c*de+ddr;
ueq=1/Gp*Up;

xite=0.50;

M=1;
switch 2
case 1
K=alfa*(F+D+xite+(alfa-1)*abs(Up));
case 2 %Using RBF

if t==0
w=30*ones(3,1);
m=3*ones(2,3);
b=5*ones(3,1);
w_2=w_1;
w_1=w;

end

ds=u(3);
xi=[s;ds];
for j=1:1:3
h(j)=exp(-norm(xi-m(:,j))^2/(2*b(j)*b(j)));
end
ym=w'*h';
K=abs(ym);
dyu=1.0;

xite1=0.80;
alfa1=0.05;
d_w=xite1*e*dyu*1/Gp*sign(s)*h'*sign(ym);
w=w_1+d_w+alfa1*(w_1-w_2);
end
un=-1/Gp*K*sign(s);
ut=ueq+un;

sys(1)=ut;
sys(2)=K;
sys(3)=s;

---------------------------------分割线

%S-function for continuous state equation
function [sys,x0,str,ts]=s_function(t,x,u,flag)

switch flag,
%Initialization
  case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
%Outputs
  case 3,
sys=mdlOutputs(t,x,u);
%Unhandled flags
  case {2, 4, 9 }
sys = [];
%Unexpected flags
  otherwise
error(['Unhandled flag = ',num2str(flag)]);
end

%mdlInitializeSizes
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 2;
sizes.NumDiscStates  = 0;
sizes.NumOutputs    = 3;
sizes.NumInputs    = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;

sys=simsizes(sizes);
x0=[0,0];
str=[];
ts=[];

function sys=mdlDerivatives(t,x,u)

fp=-25*x(2);
f=fp-5*sin(t)*x(2);
Gp=133;
G=Gp+15*sin(t);

b=0.05;c=2;
dt=50*exp(-(t-c)^2/(2*b^2)); %rbf_func.m

sys(1)=x(2);
sys(2)=f+G*u+dt;
function sys=mdlOutputs(t,x,u)
b=0.05;c=2;
dt=50*exp(-(t-c)^2/(2*b^2)); %rbf_func.m

sys(1)=x(1);
sys(2)=x(2);
sys(3)=dt;

----------------------------------------分割线

close all;

figure(1);
plot(t,y(:,1),'r',t,y(:,2),'b');
xlabel('time(s)');ylabel('Position tracking');

figure(2);
plot(t,u(:,1),'r');
xlabel('time(s)');ylabel('Control input');

figure(3);
plot(t,K(:,1),'r');
xlabel('time(s)');ylabel('Gain K');