全网最强滑模控制（SMC）matlab s-function函数实现（1），滑模控制几种趋近律总结（文末附实例下载）

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function [sys,x0,str,ts,simStateCompliance] = sfuntmpl(t,x,u,flag)
switch flag,%%%%%%%%%%%%%%%%%%% Initialization %%%%%%%%%%%%%%%%%%%case 0,[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;%%%%%%%%%%%%%%%% Derivatives %%%%%%%%%%%%%%%%case 1,sys=mdlDerivatives(t,x,u);%%%%%%%%%%% Update %%%%%%%%%%%case 2,sys=mdlUpdate(t,x,u);%%%%%%%%%%%% Outputs %%%%%%%%%%%%case 3,sys=mdlOutputs(t,x,u);%%%%%%%%%%%%%%%%%%%%%%%% GetTimeOfNextVarHit %%%%%%%%%%%%%%%%%%%%%%%%case 4,sys=mdlGetTimeOfNextVarHit(t,x,u);%%%%%%%%%%%%%% Terminate %%%%%%%%%%%%%%case 9,sys=mdlTerminate(t,x,u);%%%%%%%%%%%%%%%%%%%%% Unexpected flags %%%%%%%%%%%%%%%%%%%%%otherwiseDAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded.  This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 0;
sizes.NumInputs      = 0;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0  = [];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts  = [0 0];
% Specify the block simStateCompliance. The allowed values are:
%    'UnknownSimState', < The default setting; warn and assume DefaultSimState
%    'DefaultSimState', < Same sim state as a built-in block
%    'HasNoSimState',   < No sim state
%    'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
sys = [];
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
sys = [];
% end mdlUpdate
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys = [];
% end mdlOutputs
%
%=============================================================================
% mdlGetTimeOfNextVarHit
% Return the time of the next hit for this block.  Note that the result is
% absolute time.  Note that this function is only used when you specify a
% variable discrete-time sample time [-2 0] in the sample time array in
% mdlInitializeSizes.
%=============================================================================
%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1;    %  Example, set the next hit to be one second later.
sys = t + sampleTime;
% end mdlGetTimeOfNextVarHit
%
%=============================================================================
% mdlTerminate
% Perform any end of simulation tasks.
%=============================================================================
%
function sys=mdlTerminate(t,x,u)
sys = [];
% end mdlTerminate

switch flag,%%%%%%%%%%%%%%%%%%% Initialization %%%%%%%%%%%%%%%%%%%case 0,[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;%%%%%%%%%%%%%%%% Derivatives %%%%%%%%%%%%%%%%case 1,sys=[];%%%%%%%%%%% Update %%%%%%%%%%%case 2,sys=[];%%%%%%%%%%%% Outputs %%%%%%%%%%%%case 3,sys=mdlOutputs(t,x,u);%%%%%%%%%%%%%%%%%%%%%%%% GetTimeOfNextVarHit %%%%%%%%%%%%%%%%%%%%%%%%case 4,sys=[];%%%%%%%%%%%%%% Terminate %%%%%%%%%%%%%%case 9,sys=[];%%%%%%%%%%%%%%%%%%%%% Unexpected flags %%%%%%%%%%%%%%%%%%%%%otherwiseDAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl

%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded.  This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
%状态节点数
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
%输出节点数
sizes.NumOutputs     = 5;
%输入节点数
sizes.NumInputs      = 3;
%一般设置为1
sizes.DirFeedthrough = 1;
%采样时间数
sizes.NumSampleTimes = 0;   % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0  = [];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%连续系统，采样时间不设置
ts  = [];
% Specify the block simStateCompliance. The allowed values are:
%    'UnknownSimState', < The default setting; warn and assume DefaultSimState
%    'DefaultSimState', < Same sim state as a built-in block
%    'HasNoSimState',   < No sim state
%    'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';

%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
%因为thd=sin(t),所以dthd=cos(t)
thd=u(1);
th=u(2);
dth=u(3);
dthd=cos(t);
ddthd=-sin(t);
b=133;
epsilon=5;
k=0;
c=15;
e=thd-th;
de=dthd-dth;
s=c*e+de;
f_th=25*dth
% f(th,t)=25dth
sys(1)=1/b*(epsilon*sign(s)+k*s+c*(dthd-u(3))+ddthd+f_th);
sys(2)=e;
sys(3)=de;
sys(4)=s;
sys(5)=k;
% end mdlOutputs

switch flag,%%%%%%%%%%%%%%%%%%% Initialization %%%%%%%%%%%%%%%%%%%case 0,[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;%%%%%%%%%%%%%%%% Derivatives %%%%%%%%%%%%%%%%case 1,sys=mdlDerivatives(t,x,u);%%%%%%%%%%% Update %%%%%%%%%%%case 2,sys=[];%%%%%%%%%%%% Outputs %%%%%%%%%%%%case 3,sys=mdlOutputs(t,x,u);%%%%%%%%%%%%%%%%%%%%%%%% GetTimeOfNextVarHit %%%%%%%%%%%%%%%%%%%%%%%%case 4,sys=[];%%%%%%%%%%%%%% Terminate %%%%%%%%%%%%%%case 9,sys=[];%%%%%%%%%%%%%%%%%%%%% Unexpected flags %%%%%%%%%%%%%%%%%%%%%otherwiseDAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl

%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded.  This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates  = 2;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 2;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;   % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0  = [-0.15 -0.15];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts  = [];
% Specify the block simStateCompliance. The allowed values are:
%    'UnknownSimState', < The default setting; warn and assume DefaultSimState
%    'DefaultSimState', < Same sim state as a built-in block
%    'HasNoSimState',   < No sim state
%    'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes

%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
f_th=25*x(2);
b=133;
sys(1)=x(2);
sys(2)=-f_th+b*u;
% end mdlDerivatives

%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys(1)=x(1);
sys(2)=x(2);
% end mdlOutputs

figure(1),
plot(t,th,'r',t,thd,'k','linewidth',2);
legend('theta','theta target');
title('theta and theta target');figure(2),
subplot(211)
plot(t,e,'r','linewidth',2);
title('e')
subplot(212)
plot(t,de,'r','linewidth',2);
title('de');figure(3),
plot(t,s,'linewidth',2);
title('s');figure(4),
c=15;
plot(e,de,'r',e,-c*e,'k','linewidth',2);
legend('s change','s=0')
xlabel('e');
ylabel('de');
title('phase trajectory');

代码下载：
链接：https://pan.baidu.com/s/1it27VLIJel26UHDDBz-1fA
提取码：8cky
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作于：
2021-3-22
15：18

全网最强滑模控制（SMC）matlab s-function函数实现（1），滑模控制几种趋近律总结（文末附实例下载）相关推荐

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