第13章.zip_power system neural_sliding mode_电力系统_网络控制仿真_车辆模糊PID

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 = 2; sizes.NumInputs = 3; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 1; sys = simsizes(sizes); x0 = []; str = []; ts = [0 0]; function sys=mdlOutputs(t,x,u) thd=u(1); dthd=cos(t); ddthd=-sin(t); th=u(2); dth=u(3); c=10; e=th-thd; de=dth-dthd; dt=0.10*sin(2*pi*t); D=0.10; e0=pi/6; de0=0-1.0; s0=de0+c*e0; ft=s0*exp(-130*t); df=-130*s0*exp(-130*t); s=de+c*e-ft; R=ddthd+c*dthd; J_min=0.80; J_max=1.20; aJ=(J_min+J_max)/2; dJ=(J_max-J_min)/2; M=2; if M==1 ut=-aJ*(c*dth-df)+aJ*R-[dJ*abs(c*dth-df)+D+dJ*abs(R)]*sign(s); elseif M==2 fai=0.05; if s/fai>1 sat=1; elseif abs(s/fai)<=1 sat=s/fai; elseif s/fai<-1 sat=-1; end ut=-aJ*(c*dth-df)+aJ*R-[dJ*abs(c*dth-df)+D+dJ*abs(R)]*sat; end sys(1)=ut; sys(2)=s;