分析以下代码,并且为其作注释:% clear all % clc global m l g m = 2; l = 1; g = 9.8; [t,y] = ode45(@odeBai,[0 10],[-1;0]); figure(1); plot(t,y(:,1),'-.',t,y(:,2),'-.'); grid on figure(2); x0 = 0; y0 = 0; v = VideoWriter('Pen.avi'); open(v); for k=1:200:size(t) x1=l*cos(y(k,1)); y1=l*sin(y(k,1)); link1_x=[0,x1]; link1_y=[0,y1]; line(link1_x,link1_y,'linewidth',2,'color','b') axis equal axis([-1.55 1.55 -1.55 0.55]) grid on; hold on; plot(x0,y0,'o','linewidth',5,'color','r'); frame = getframe(gcf); writeVideo(v,frame); clf; end close(v); function dy = odeBai(t,y) dy = zeros(2,1); tau = PIDController(t,y); dy(1) = y(2); dy(2) = -3 * g / ( m * l )*sin(y(1)) + 3 * tau /(1*1*1); end function tau=PIDController(t,y) % 目标状态 y1_desire = -pi/3; y2_desire = 0; % 控制增益 Kp = 1000; Kd = 500; % 控制力矩 tau = Kp*(y1_desire-y(1))+Kd*(y2_desire-y(2)); end
时间: 2024-01-27 11:05:50 浏览: 24
这段代码用于模拟一个单摆的运动,并且在运动过程中使用了一个简单的PID控制器来控制单摆的运动状态,使其达到目标状态。
代码注释如下:
```
% clear all % clc
% 清空工作区和命令窗口
global m l g
m = 2; l = 1; g = 9.8;
% 定义单摆的参数
[t,y] = ode45(@odeBai,[0 10],[-1;0]);
% 使用ode45求解微分方程组,得到时间和状态变量的值
figure(1);
plot(t,y(:,1),'-.',t,y(:,2),'-.');
grid on
% 绘制单摆的状态变化曲线
figure(2);
x0 = 0; y0 = 0;
v = VideoWriter('Pen.avi'); open(v);
% 创建视频文件并打开
for k=1:200:size(t)
x1=l*cos(y(k,1));
y1=l*sin(y(k,1));
link1_x=[0,x1];
link1_y=[0,y1];
line(link1_x,link1_y,'linewidth',2,'color','b')
axis equal
axis([-1.55 1.55 -1.55 0.55])
grid on;
hold on;
plot(x0,y0,'o','linewidth',5,'color','r');
frame = getframe(gcf);
writeVideo(v,frame);
clf;
end
close(v);
% 绘制单摆的运动轨迹,并将其保存为视频文件
function dy = odeBai(t,y)
dy = zeros(2,1);
tau = PIDController(t,y);
% 调用PID控制器计算控制力矩
dy(1) = y(2);
dy(2) = -3 * g / ( m * l )*sin(y(1)) + 3 * tau /(1*1*1);
% 计算单摆的状态变化率
end
function tau=PIDController(t,y)
% 目标状态
y1_desire = -pi/3; y2_desire = 0;
% 控制增益
Kp = 1000; Kd = 500;
% 使用PID控制器计算控制力矩
tau = Kp*(y1_desire-y(1))+Kd*(y2_desire-y(2));
end
```
总体来说,这段代码涵盖了物理学、微积分、控制理论等多个方面的知识,通过控制器的设计,实现了对单摆的控制和监测。