小车倒立摆的matlab源码

function [sys,x0,str,ts]=animation(t,x,u,flag,ts) global Hgan; %杆图象句柄 global Hcar; %小车图象句柄 global Hfigure; %整个图象界面句柄 switch flag case 0 sizes=simsizes; %↑ sizes.NumInputs=4; %↑ sizes.NumOutputs=0; %↑ sys=simsizes(sizes); %↑ %--------------------------------------------------初始化系统 animinit('一级倒立摆'); [flag,Hfigure] = figflag('一级倒立摆'); hold on; a=[-1 1]; b=[ 0 0]; plot(a,b,'r','LineWidth',3); %plot(b,a,'r:','LineWidth',1); a1=[-0.1 0.1 0.1 -0.1 -0.1]; b1=[ 0.1 0.1 -0.1 -0.1 0.1]; Hcar=plot(a1,b1,'b','LineWidth',1); set(Hcar,'EraseMode','Xor'); Xgan=[0 0]; Ygan=[0 -1]; Hgan=plot(Xgan,Ygan,'k',... %↑ 'EraseMode',... %↑ 'background',... %↑ 'LineWidth',1.5,... %↑ 'Marker','o',... %↑ 'MarkerSize',2) %↑ set(Hgan,'EraseMode','Xor','MarkerFaceColor','r'); %↑ axis([-1.2 1.2 -1.2 1.2]); %↑ axis square; %↑ %--------------------------------------------------初始化界面 case 2 if any(get(0,'Children')==Hfigure), if strcmp(get(Hfigure,'Name'),'一级倒立摆'), x=u(2); x1=x+sin(u(4)); y1=cos(u(4)); Xgan=[ x x1]; %↑ Ygan=[ 0 y1]; %↑ set(Hgan,'XData',Xgan,'YData',Ygan); %↑ Xcar=[-0.1+x 0.1+x 0.1+x -0.1+x -0.1+x]; %↑ Ycar=[ 0.1 0.1 -0.1 -0.1 0.1]; %↑ set(Hcar,'XData',Xcar,'YData',Ycar); %↑ end %↑ end %↑ %--------------------------------------------重新定位生成动画 end