自抗扰控制算法

function [sys,x0,str,ts]=model_zhengqifashengqi(t,x,u,flag) switch flag, case 0 [sys,x0,str,ts] = mdlInitializeSizes; case 1 sys=mdlDerivatives(x,u); case 3 sys = mdlOutputs(x,t,u); case {2,4,9} sys = []; % do nothing otherwise error(['Unhandled flag=',num2str(flag)]); end function [sys,x0,str,ts] = mdlInitializeSizes sizes = simsizes; sizes.NumContStates = 4; sizes.NumDiscStates = 0; sizes.NumOutputs = 1; sizes.NumInputs = 3; sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 1; sys = simsizes(sizes); x0 = [0;0;0;0]; str = []; ts = [-1 0]; function sys=mdlDerivatives(x,u) G1=0.058;pi=3.14; sys(1,1) = G1*(u(2)-u(3)); sys(2,1) = -(1/(f4(u)))*x(2)-(f2(u)/(f4(u)))*(u(2)-u(3)); sys(3,1) =-2*(1/(f5(u)))^2*x(3)+x(4)+f3(u)*u(2); sys(4,1) =-((1/(f5(u)))^2+4*pi*(1/f6(u))^2)*x(3); %------------------------------------------- function sys = mdlOutputs(x,t,u) sys = x(1)+x(2)+x(3); function G2=f2(u) if(u(1)<0.05) G2=9.63; else if(u(1)>0.05)&(u(1)<=0.15) G2=9.63+((9.63-4.46)/(0.05-0.15))*(u(1)-0.05); else if(u(1)>0.15)&(u(1)<=0.3) G2=4.46+((4.46-1.83)/(0.15-0.3))*(u(1)-0.15); else if(u(1)>0.3)&(u(1)<=0.5) G2=1.83+((1.83-1.05)/(0.3-0.5))*(u(1)-0.3); else if(u(1)>0.5)&(u(1)<=1) G2=1.05+((1.05-0.47)/(0.5-1))*(u(1)-0.5); else G2=0.47; end end end end end function G3=f3(u) %------------------------------------------- if(u(1)<0.05) G3=0.181; else if(u(1)>0.05)&(u(1)<=0.15) G3=0.181+((0.181-0.226)/(0.05-0.15))*(u(1)-0.05); else if(u(1)>0.15)&(u(1)<=0.3) G3=0.226+((0.226-0.31)/(0.15-0.3))*(u(1)-0.15); else if(u(1)>0.3)&(u(1)<=0.5) G3=0.31+((0.31-0.215)/(0.3-0.5))*(u(1)-0.3); else if(u(1)>0.5)&(u(1)<=1) G3=0.215+((0.215-0.105)/(0.5-1))*(u(1)-0.5); else G3=0.105; end end end end end function tao2=f4(u) %------------------------------------------- if(u(1)<0.05) tao2=48.4; else if(u(1)>0.05)&(u(1)<=0.15) tao2=48.4+((48.4-21.5)/(0.05-0.15))*(u(1)-0.05); else if(u(1)>0.15)&(u(1)<=0.3) tao2=21.5+((21.5-4.5)/(0.15-0.3))*(u(1)-0.15); else if(u(1)>0.3)&(u(1)<=0.5) tao2=4.5+((4.5-3.6)/(0.3-0.5))*(u(1)-0.3); else if(u(1)>0.5)&(u(1)<=1) tao2=3.6+((3.6-3.4)/(0.5-1))*(u(1)-0.5); else tao2=3.4; end end end end end function tao1=f5(u) %------------------------------------------- if(u(1)<0.05) tao1=41.9; else if(u(1)>0.05)&(u(1)<=0.15) tao1=41.9+((41.9-26.3)/(0.05-0.15))*(u(1)-0.05); else if(u(1)>0.15)&(u(1)<=0.3) tao1=26.3+((26.3-43.4)/(0.15-0.3))*(u(1)-0.15); else if(u(1)>0.3)&(u(1)<=0.5) tao1=43.4+((43.4-34.8)/(0.3-0.5))*(u(1)-0.3); else if(u(1)>0.5)&(u(1)<=1) tao1=34.8+((34.8-28.6)/(0.5-1))*(u(1)-0.5); else tao1=28.6; end end end end end function T=f6(u) %------------------------------------------- if(u(1)<0.05) T=119.6; else if(u(1)>0.05)&(u(1)<=0.15) T=119.6+((119.6-60.5)/(0.05-0.15))*(u(1)-0.05); else if(u(1)>0.15)&(u(1)<=0.3) T=60.5+((60.5-17.7)/(0.15-0.3))*(u(1)-0.15); else if(u(1)>0.3)&(u(1)<=0.5) T=17.7+((17.7-14.2)/(0.3-0.5))*(u(1)-0.3); else if(u(1)>0.5)&(u(1)<=1) T=14.2+((14.2-11.7)/(0.5-1))*(u(1)-0.5); else T=11.7; end end end end end