gusucode.com > 模糊控制工具箱 fuzzy logic toolbox源码程序 > fuzzy/fuzdemos/animcp.m
function [sys, x0] = animcp(t, x, u, flag, action)
%ANIMCP Animation of CP (cart & pole) system.
% Animation of the cart & pole (CP) system, where a Sugeno-type fuzzy
% controller is used to balance the pole as well as move the cart to
% a target position indicated by the green triangle.
%
% If the target position is chosen as mouse-driven, you can click your
% mouse inside the green triangle to move it to another position.
%
% Animation S-function: animcp.m
% SIMULINK file: slcp.m
% Roger Jang, 10-21-93, 6-8-94
% Copyright 1994-2004 The MathWorks, Inc.
% $Revision: 1.15.2.3 $ $Date: 2004/04/10 23:15:12 $
% User data convention:
% userdata = get(AnimCpFigH, 'userdata');
% userdata(1, :) --> handles for standard SL gui control
% userdata(2, :) --> handles for additional gui control
% userdata(3, :) --> handles for animation objects
global AnimCpFigH AnimCpFigTitle AnimCpAxisH
if ~isempty(flag) & flag == 2,
if any(get(0, 'children') == AnimCpFigH),
if strcmp(get(AnimCpFigH, 'Name'), AnimCpFigTitle),
theta = u(1); pos = u(2); curr_force = u(3); curr_ref = u(4);
tmp = get(AnimCpFigH, 'userdata');
objectH = tmp(3, :);
% During simulation disenable the Target Position pop-up menu
kids = get(AnimCpFigH,'Children');
PopUpMenuHndl = findobj(kids,'Tag','SourceSelect');
set(PopUpMenuHndl,'enable','off');
% ====== update cart
cartH = objectH(1);
cart = get(cartH, 'userdata');
new_cart = cart + pos;
set(cartH, 'xdata', real(new_cart), 'ydata', imag(new_cart));
% ====== update pole
poleH = objectH(2);
pole = get(poleH, 'userdata');
new_pole = pole*exp(-j*theta) + pos;
set(poleH, 'xdata', real(new_pole), 'ydata', imag(new_pole));
% ====== update force arrow
cart_length = abs(real(cart(1)))*2;
cart_height = abs(imag(cart(1)));
forceH = objectH(3);
force = get(forceH, 'userdata');
new_force = curr_force/4*force + pos - j*cart_height/2 ...
- sign(curr_force)*cart_length/2;
set(forceH, 'xdata', real(new_force), 'ydata', imag(new_force));
% ====== update reference triangle if not dragging
refH = objectH(4);
ref = get(refH, 'userdata');
new_ref = ref + curr_ref;
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
% ====== update time
tmp = get(AnimCpFigH, 'userdata');
timeH = tmp(1, 6);
set(timeH, 'String', ['Time: ', sprintf('%.2f', t)]);
end
end
% ====== return nothing
sys = [];
x0=[];
drawnow; % for invoking with rk45()
elseif ~isempty(flag) & flag == 9, % When simulation stops ...
% ====== change labels of standard UI controls
if any(get(0, 'children') == AnimCpFigH),
if strcmp(get(AnimCpFigH, 'Name'), AnimCpFigTitle),
tmp = get(AnimCpFigH, 'userdata');
set(tmp(1, 1), 'visible', 'on'); % start
set(tmp(1, 2:5), 'visible', 'off');
% At end of simulation re-enable the Target Position pop-up menu
kids = get(AnimCpFigH,'Children');
PopUpMenuHndl = findobj(kids,'Tag','SourceSelect');
set(PopUpMenuHndl,'enable','on');
end
end
elseif ~isempty(flag) & flag == 0,
% ====== find animation block & figure
[winName] = bdroot(gcs);
AnimCpFigTitle = [winName, ': Cart & Pole Animation'];
[flag, AnimCpFigH] = figflag(AnimCpFigTitle);
% ====== % No figure, initialize everything
if ~flag,
ui_row_n = 2; % No. of UI rows
% ###### default UI settings for SIMUINK ######
AnimCpFigH = figure( ...
'Name', AnimCpFigTitle, ...
'NumberTitle', 'off', ...
'DockControls', 'off');
figPos = get(AnimCpFigH, 'position');
% ====== proportion of UI frame and axes
ui_area = 0.2;
axis_area = 1-ui_area;
% ====== animation area
axisPos = [0 figPos(4)*ui_area figPos(3) figPos(4)*axis_area];
% weird thing: if you don't use normalized unit for
% axes, patch for ground doesn't appear
axisPos = axisPos./[figPos(3) figPos(4) figPos(3) figPos(4)];
AnimCpAxisH = ...
axes('unit', 'normal', 'pos', axisPos, 'visible', 'off');
% ====== background frame
coverPos = [0 0 figPos(3) figPos(4)*ui_area];
[frameH, framePos] = uiarray(coverPos, 1, 1, 0);
% ====== rows for UI controls
spacing = 5;
[H, Pos] = uiarray(framePos, ui_row_n, 1, spacing);
% ====== split lower-most rows into 2 uneven regions
delete(H(2));
[tmpH, tmpPos] = uiarray(Pos(2,:), 1, 6, 0, spacing);
% lower left frame
delete(tmpH(2:4));
lPos = tmpPos(1, :);
lPos(3) = 4*lPos(3)+3*spacing;
set(tmpH(1), 'pos', lPos);
% lower right frame
delete(tmpH(6));
rPos = tmpPos(5, :);
rPos(3) = 2*rPos(3)+spacing;
set(tmpH(5), 'pos', rPos);
% ====== lower-right UI's (same for all SL animation)
cb1 = [mfilename '([], [], [], [], ''info'')'];
cb2 = [mfilename '([], [], [], [], ''close'')'];
[lrH, lrPos] = uiarray(rPos, 1, 2, spacing, spacing, ...
str2mat('push', 'push'), ...
str2mat(cb1, cb2), ...
str2mat('Help', 'Close'));
infoH = lrH(1);
closeH = lrH(2);
% ====== lower-left UI's (same for all SL animation)
cb1 = '';
cb2 = [mfilename '([], [], [], [], ''start_sl'')'];
cb3 = '';
cb4 = '';
[llH, llPos] = uiarray(lPos, 1, 4, spacing, spacing, ...
str2mat('text', 'push', 'text', 'text'), ...
str2mat(cb1, cb2, cb3, cb4), ...
str2mat('t = 0', 'Start Simulation ...','',''));
timeH = llH(1);
% ====== extend the width of start button
delete(llH(3:4));
startH = llH(2);
startPos = llPos(2,:);
startPos(3) = 3*startPos(3)+2*spacing;
set(startH, 'pos', startPos);
% ====== create stop and pause (under start)
cb1 = [mfilename '([], [], [], [], ''stop_sl'')'];
cb2 = [mfilename '([], [], [], [], ''pause_sl'')'];
cb3 = '';
[h, pos] = uiarray(startPos, 1, 3, 0,spacing,'push', ...
str2mat(cb1, cb2, cb3), ...
str2mat('Stop', 'Pause ...', ''));
set(h, 'visible', 'off');
stopH = h(1); pauseH = h(2);
% ====== extend the width of pause button
delete(h(3));
pausePos = pos(2, :);
pausePos(3) = 2*pausePos(3)+spacing;
set(pauseH, 'pos', pausePos);
% ===== create continue and step (under pause)
cb1 = [mfilename '([], [], [], [], ''continue_sl'')'];
cb2 = [mfilename '([], [], [], [], ''step_sl'')'];
[h, pos] = uiarray(pausePos, 1, 2, 0, spacing, ...
'push', ...
str2mat(cb1, cb2), ...
str2mat('Continue', 'Step'));
set(h, 'visible', 'off');
contH = h(1); stepH = h(2);
%===== put UI handles into current figure's user data
tmp = [startH stopH pauseH contH stepH timeH -1 -1 -1 -1];
set(AnimCpFigH, 'userdata', tmp);
% ###### additional UI settings ######
% ====== The upper UI controls (Specific to each animation)
cb1 = [mfilename '([], [], [], [], ''show_trail'')'];
cb2 = [mfilename '([], [], [], [], ''clear_trail'')'];
cb3 = '';
cb4 = [mfilename '([], [], [], [], ''target_pos'')'];
string1 = 'Show Trails';
string2 = 'Clear Trails';
string3 = 'Target Position:';
string4 = 'Sinusoid Wave|Square Wave|Saw Wave|Random Wave|Mouse-Driven';
[upH, upPos] = uiarray(Pos(1,:), 1, 4, spacing, 2*spacing, ...
str2mat('check', 'push', 'text', 'popup'), ...
str2mat(cb1, cb2, cb3, cb4), ...
str2mat(string1, string2, string3, string4));
set(upH(3), 'HorizontalAlignment', 'right');
signalH = upH(4);
% Set the Tag of the pop-up menu so it can be found and disenabled during simulation
set(signalH,'Tag','SourceSelect');
dispmodeH = upH(1);
% The value of signalH should match that of SL block
[winName] = bdroot(gcs);
signal_block = [winName, '/Target Position'];
signal_value = get_param(signal_block, 'waveform');
if strcmp(signal_value, 'sine'),
set(signalH, 'value', 1);
elseif strcmp(signal_value, 'square'),
set(signalH, 'value', 2);
elseif strcmp(signal_value, 'sawtooth'),
set(signalH, 'value', 3);
elseif strcmp(signal_value, 'random'),
set(signalH, 'value', 4);
else
error('Unknown signal generator!');
end
constant_block = [winName, '/Constant'];
if str2double(get_param(constant_block, 'value')) < 0,
set(signalH, 'value', 5);
end
% ====== Appending handles as the second row of userdata
tmp = [signalH dispmodeH -1 -1 -1 -1 -1 -1 -1 -1];
set(AnimCpFigH, 'userdata', [get(AnimCpFigH, 'userdata'); tmp]);
% ###### animation objects ######
% ====== cart
cart_height = 0.2;
cart_length = 0.4;
cart = cart_length/2*[-1 1 1 -1 -1] + ...
j*(cart_height/2*[-1 -1 1 1 -1]-cart_height/2 +.005);
cartH = patch(real(cart), imag(cart), 'm');
set(cartH, 'erase', 'xor');
set(cartH, 'userdata', cart);
% ====== pole
pole_length = 1; % this must be the same as plant block
pole_radius = 0.02;
pole = pole_radius*[-1 1 1 -1 -1] + ...
j*(pole_length/2*[-1 -1 1 1 -1]+pole_length/2+.003);
poleH = patch(real(pole), imag(pole), 'y');
set(poleH, 'erase', 'xor', 'clipping', 'off');
set(poleH, 'userdata', pole);
% ====== force arrow
force_x = [-1 0 nan -0.1 0 -0.1];
force_y = [0 0 nan 0.1 0 -0.1];
force = force_x + j*force_y;
forceH = line(real(force), imag(force), ...
'erase', 'xor', 'color', 'c', 'clip', 'off');
set(forceH, 'userdata', force, ...
'xdata', [0], 'ydata', [0]);
% ====== reference triangle
ref = cart_length/2*[-1 1 0 -1] + ...
j*cart_height*([0 0 1 0] - 1.1);
ref = ref - 2*j*cart_height;
refH = line(real(ref), imag(ref));
set(refH, 'color', 'g', 'linewidth', 2);
% refH = patch(real(ref), imag(ref), 'g');
set(refH, 'erase', 'background');
set(refH, 'userdata', ref);
% ====== axis settings
pos_range = [-2 2];
set(AnimCpAxisH, 'clim', [1 64], ...
'xlim', pos_range, ...
'ylim', [-cart_height 1*1.2], ...
'box', 'on');
axis equal;
set(AnimCpAxisH, 'visible', 'off');
% ====== colormap settings for floor
colormap(gray); % To assign correct patch color
patch([pos_range -pos_range], ...
cart_height*[-2 -2 -1 -1], [10 10 55 55]);
% ====== append the handles as third row of userdata
tmp = [cartH poleH forceH refH -1 -1 -1 -1 -1 -1];
set(AnimCpFigH, 'userdata', [get(AnimCpFigH, 'userdata'); tmp]);
% ====== change to normalized units
set(findobj(AnimCpFigH,'Units','pixels'), 'Units','normalized');
% ====== move the reference triangle by mouse
% action when button is first pushed down
action1 = [mfilename '([], [], [], [], ''mouse_action'')'];
% actions after the mouse is pushed down
action2 = action1;
% action when button is released
action3 = action1;
% temporary storage for the recall in the down_action
set(AnimCpAxisH,'UserData',action2);
% set action when the mouse is pushed down
down_action=[ ...
'set(AnimCpFigH,''WindowButtonMotionFcn'',get(AnimCpAxisH,''UserData''));' ...
action1];
set(AnimCpFigH,'WindowButtonDownFcn',down_action);
% set action when the mouse is released
up_action=[ ...
'set(AnimCpFigH,''WindowButtonMotionFcn'','' '');', action3];
set(AnimCpFigH,'WindowButtonUpFcn',up_action);
end
% ====== change labels of standard UI controls
tmp = get(AnimCpFigH, 'userdata');
set(tmp(1, 1), 'visible', 'off');
set(tmp(1, 2:3), 'visible', 'on');
sys = [0 0 0 4 0 0];
x0=[];
set(AnimCpFigH, 'HandleVisibility', 'on');
elseif nargin == 5, % for callbacks of GUI
% ###### standard UI controls
if strcmp(action, 'start_sl'),
tmp = get(AnimCpFigH, 'userdata');
set(tmp(1, 1), 'visible', 'off');
set(tmp(1, 2:3), 'visible', 'on');
[winName] = bdroot(gcs);
set_param(winName, 'SimulationCommand', 'start');
elseif strcmp(action, 'stop_sl'),
tmp = get(AnimCpFigH, 'userdata');
set(tmp(1, 1), 'visible', 'on');
set(tmp(1, 2:5), 'visible', 'off');
[winName] = bdroot(gcs);
set_param(winName, 'SimulationCommand', 'stop');
elseif strcmp(action, 'pause_sl'),
tmp = get(AnimCpFigH, 'userdata');
set(tmp(1, 3), 'visible', 'off');
set(tmp(1, 4:5), 'visible', 'on');
[winName] = bdroot(gcs);
set_param(winName, 'SimulationCommand', 'pause');
elseif strcmp(action, 'step_sl'),
[winName] = bdroot(gcs);
set_param(winName, 'SimulationCommand', 'step');
elseif strcmp(action, 'continue_sl'),
tmp = get(AnimCpFigH, 'userdata');
set(tmp(1, 3), 'visible', 'on');
set(tmp(1, 4:5), 'visible', 'off');
[winName] = bdroot(gcs);
set_param(winName, 'SimulationCommand', 'continue');
elseif strcmp(action, 'info'),
helpwin(mfilename);
% title = get(AnimCpFigH, 'Name');
% content = ...
% [' '
% ' Animation of the cart & pole (CP) system, where a '
% ' Sugeno-type fuzzy controller is used to balance the'
% ' pole as well as move the cart to a target position '
% ' indicated by the green triangle. '
% ' '
% ' Animation S-function: animcp.m '
% ' SIMULINK file: slcp.m '];
% fhelpfun(title, content);
elseif strcmp(action, 'close'),
% [winName, sysName] = get_param;
% set_param(winName, 'Simulation running', 'stop');
delete(AnimCpFigH);
% ###### additional UI controls
elseif strcmp(action, 'target_pos'),
[winName] = bdroot(gcs);
if strcmp(get_param(winName,'SimulationStatus'),'running')
error('Cannot change target position when simulation is running')
end
signal_block = [winName, '/Target Position'];
constant_block = [winName, '/Constant'];
tmp = get(AnimCpFigH, 'userdata');
signalH = tmp(2, 1);
signal = get(signalH, 'value');
if signal == 1, % sinusoid wave
set_param(signal_block, 'wave', 'sine');
set_param(constant_block, 'value', '1');
elseif signal == 2, % square wave
set_param(signal_block, 'wave', 'square');
set_param(constant_block, 'value', '1');
elseif signal == 3, % saw wave
set_param(signal_block, 'wave', 'sawtooth');
set_param(constant_block, 'value', '1');
elseif signal == 4, % random wave
set_param(signal_block, 'wave', 'random');
set_param(constant_block, 'value', '1');
elseif signal == 5, % mouse-driven
set_param(constant_block, 'value', '-1');
else
error('Unknown wave option!');
end
elseif strcmp(action, 'show_trail'),
tmp = get(AnimCpFigH, 'userdata');
dispmodeH = tmp(2, 2);
objectH = tmp(3, 1:4);
dispmode = get(dispmodeH, 'value');
if dispmode == 0, % xor
set(objectH, 'erasemode', 'xor');
set(AnimCpFigH, 'color', get(AnimCpFigH, 'color'));
else
set(objectH, 'erasemode', 'none');
end
elseif strcmp(action, 'clear_trail'),
refresh(AnimCpFigH);
% set(AnimCpFigH, 'color', get(AnimCpFigH, 'color'));
elseif strcmp(action, 'mouse_action')
[winName] = bdroot(gcs);
if str2double(get_param([winName, '/Constant'], 'value')) < 0,
curr_info = get(AnimCpAxisH, 'CurrentPoint');
tmp = get(AnimCpFigH, 'UserData');
refH = tmp(3, 4);
desired_pos = curr_info(1,1);
desired_pos = min(max(desired_pos, -1.5), 1.5);
ref = get(refH, 'userdata');
new_ref = ref + desired_pos;
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
[windowname] = bdroot(gcs);
set_param([windowname, '/Target Position',13,'(Mouse-Driven)'],...
'value', num2str(desired_pos));
end
else
fprintf('Unknown action string: %s.\n', action);
end
end