基于双闭环PID控制的一阶倒立摆simscape建模Matlab完整源码(课程设计作业).zip

% Simscape(TM) Multibody(TM) version: 5.1 % This is a model data file derived from a Simscape Multibody Import XML file using the smimport function. % The data in this file sets the block parameter values in an imported Simscape Multibody model. % For more information on this file, see the smimport function help page in the Simscape Multibody documentation. % You can modify numerical values, but avoid any other changes to this file. % Do not add code to this file. Do not edit the physical units shown in comments. %%%VariableName:smiData %============= RigidTransform =============% %Initialize the RigidTransform structure array by filling in null values. smiData.RigidTransform(5).translation = [0.0 0.0 0.0]; smiData.RigidTransform(5).angle = 0.0; smiData.RigidTransform(5).axis = [0.0 0.0 0.0]; smiData.RigidTransform(5).ID = ''; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(1).translation = [0 23.839745962155607 -57.720018726587611]; % mm smiData.RigidTransform(1).angle = 0; % rad smiData.RigidTransform(1).axis = [0 0 0]; smiData.RigidTransform(1).ID = 'B[car-1:-:arm-1]'; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(2).translation = [1.9828249938869548e-14 2.9479110446472743e-14 -100.22001872658825]; % mm smiData.RigidTransform(2).angle = 0; % rad smiData.RigidTransform(2).axis = [0 0 0]; smiData.RigidTransform(2).ID = 'F[car-1:-:arm-1]'; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(3).translation = [500 28.660254037844378 0]; % mm smiData.RigidTransform(3).angle = 2.0943951023931953; % rad smiData.RigidTransform(3).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962584]; smiData.RigidTransform(3).ID = 'B[rail-1:-:car-1]'; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(4).translation = [598.36717340629593 0 0]; % mm smiData.RigidTransform(4).angle = 2.0943951023931953; % rad smiData.RigidTransform(4).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962584]; smiData.RigidTransform(4).ID = 'F[rail-1:-:car-1]'; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(5).translation = [-186.33037718084512 5.4086518723269439 1000]; % mm smiData.RigidTransform(5).angle = 0; % rad smiData.RigidTransform(5).axis = [0 0 0]; smiData.RigidTransform(5).ID = 'RootGround[rail-1]'; %============= Solid =============% %Center of Mass (CoM) %Moments of Inertia (MoI) %Product of Inertia (PoI) %Initialize the Solid structure array by filling in null values. smiData.Solid(3).mass = 0.0; smiData.Solid(3).CoM = [0.0 0.0 0.0]; smiData.Solid(3).MoI = [0.0 0.0 0.0]; smiData.Solid(3).PoI = [0.0 0.0 0.0]; smiData.Solid(3).color = [0.0 0.0 0.0]; smiData.Solid(3).opacity = 0.0; smiData.Solid(3).ID = ''; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(1).mass = 0.087876015712528149; % kg smiData.Solid(1).CoM = [0 -120.35733393831536 -4.1392127473479263]; % mm smiData.Solid(1).MoI = [909.94303859478009 13.909385526841838 897.36545477514187]; % kg*mm^2 smiData.Solid(1).PoI = [43.77847869292853 0 0]; % kg*mm^2 smiData.Solid(1).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238]; smiData.Solid(1).opacity = 1; smiData.Solid(1).ID = 'arm'; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(2).mass = 7.0306311132673471; % kg smiData.Solid(2).CoM = [0 14.20782076364536 0]; % mm smiData.Solid(2).MoI = [1801.4125983885976 586355.6283335269 586430.39913962991]; % kg*mm^2 smiData.Solid(2).PoI = [0 0.017117901370148202 0]; % kg*mm^2 smiData.Solid(2).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708]; smiData.Solid(2).opacity = 1; smiData.Solid(2).ID = 'rail'; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(3).mass = 0.084169409401754061; % kg smiData.Solid(3).CoM = [0 7.9476565506804988 0]; % mm smiData.Solid(3).MoI = [19.891341735775271 18.526314866121439 21.641476150820278]; % kg*mm^2 smiData.Solid(3).PoI = [0 1.6140971419415663e-06 0]; % kg*mm^2 smiData.Solid(3).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238]; smiData.Solid(3).opacity = 1; smiData.Solid(3).ID = 'car'; %============= Joint =============% %X Revolute Primitive (Rx) %Y Revolute Primitive (Ry) %Z Revolute Primitive (Rz) %X Prismatic Primitive (Px) %Y Prismatic Primitive (Py) %Z Prismatic Primitive (Pz) %Spherical Primitive (S) %Constant Velocity Primitive (CV) %Lead Screw Primitive (LS) %Position Target (Pos) %Initialize the PrismaticJoint structure array by filling in null values. smiData.PrismaticJoint(1).Pz.Pos = 0.0; smiData.PrismaticJoint(1).ID = ''; smiData.PrismaticJoint(1).Pz.Pos = 0; % m smiData.PrismaticJoint(1).ID = '[rail-1:-:car-1]'; %Initialize the RevoluteJoint structure array by filling in null values. smiData.RevoluteJoint(1).Rz.Pos = 0.0; smiData.RevoluteJoint(1).ID = ''; smiData.RevoluteJoint(1).Rz.Pos = 33.925580157036137; % deg smiData.RevoluteJoint(1).ID = '[car-1:-:arm-1]';