【运动学】倒立摆系统【含GUI Matlab源码 1117期】

⛄一、获取代码方式

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⛄二、部分源代码

function varargout = pendulum(varargin)
% PENDULUM M-file for pendulum.fig
% PENDULUM, by itself, creates a new PENDULUM or raises the existing
% singleton*.
%
% H = PENDULUM returns the handle to a new PENDULUM or the handle to
% the existing singleton*.
%
% PENDULUM(‘CALLBACK’,hObject,eventData,handles,…) calls the local
% function named CALLBACK in PENDULUM.M with the given input arguments.
%
% PENDULUM(‘Property’,‘Value’,…) creates a new PENDULUM or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before pendulum_OpeningFunction gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to pendulum_OpeningFcn via varargin.
%
% *See GUI Options on GUIDE’s Tools menu. Choose “GUI allows only one
% instance to run (singleton)”.
%
% See also: GUIDE, GUIDATA, GUIHANDLES

%

% Edit the above text to modify the response to help pendulum

% Last Modified by SHE on 15-Dec-2020 22:08:58

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct(‘gui_Name’, mfilename, …
‘gui_Singleton’, gui_Singleton, …
‘gui_OpeningFcn’, @pendulum_OpeningFcn, …
‘gui_OutputFcn’, @pendulum_OutputFcn, …
‘gui_LayoutFcn’, [] , …
‘gui_Callback’, []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT

% — Executes just before pendulum is made visible.
function pendulum_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% varargin command line arguments to pendulum (see VARARGIN)

% Choose default command line output for pendulum
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes pendulum wait for user response (see UIRESUME)
% uiwait(handles.figure1);

% — Outputs from this function are returned to the command line.
function varargout = pendulum_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;

function edit1_Callback(hObject, eventdata, handles)
% hObject handle to edit1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,‘String’) returns contents of edit1 as text
% str2double(get(hObject,‘String’)) returns contents of edit1 as a double
%以字符串的形式来存储数据文本框1的内容。如果字符串不是数字，则现实空白内容
input =str2double(get(hObject,‘String’));
%检查输入是否为空. 如果为空,则默认显示为0
if (isempty(input))
set(hObject,‘String’,‘0’)
end
guidata(hObject, handles);

% — Executes during object creation, after setting all properties.
function edit1_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,‘BackgroundColor’,‘white’);
else
set(hObject,‘BackgroundColor’,get(0,‘defaultUicontrolBackgroundColor’));
end

function edit2_Callback(hObject, eventdata, handles)
% hObject handle to edit2 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,‘String’) returns contents of edit2 as text
% str2double(get(hObject,‘String’)) returns contents of edit2 as a double
%以字符串的形式来存储数据文本框2的内容。如果字符串不是数字，则现实空白内容
input =str2double(get(hObject,‘String’));
%检查输入是否为空. 如果为空,则默认显示为0
if (isempty(input))
set(hObject,‘String’,‘0’)
end
guidata(hObject, handles);

% — Executes during object creation, after setting all properties.
function edit2_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit2 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,‘BackgroundColor’,‘white’);
else
set(hObject,‘BackgroundColor’,get(0,‘defaultUicontrolBackgroundColor’));
end

function edit3_Callback(hObject, eventdata, handles)
% hObject handle to edit3 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,‘String’) returns contents of edit3 as text
% str2double(get(hObject,‘String’)) returns contents of edit3 as a double
%以字符串的形式来存储数据文本框3的内容。如果字符串不是数字，则现实空白内容
input =str2double(get(hObject,‘String’));
%检查输入是否为空. 如果为空,则默认显示为0
if (isempty(input))
set(hObject,‘String’,‘0’)
end
guidata(hObject, handles);

% — Executes during object creation, after setting all properties.
function edit3_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit3 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,‘BackgroundColor’,‘white’);
else
set(hObject,‘BackgroundColor’,get(0,‘defaultUicontrolBackgroundColor’));
end

function edit4_Callback(hObject, eventdata, handles)
% hObject handle to edit4 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,‘String’) returns contents of edit4 as text
% str2double(get(hObject,‘String’)) returns contents of edit4 as a double
%以字符串的形式来存储数据文本框4的内容。如果字符串不是数字，则现实空白内容
input =str2double(get(hObject,‘String’));
%检查输入是否为空. 如果为空,则默认显示为0
if (isempty(input))
set(hObject,‘String’,‘0’)
end
guidata(hObject, handles);

% — Executes during object creation, after setting all properties.
function edit4_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit4 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,‘BackgroundColor’,‘white’);
else
set(hObject,‘BackgroundColor’,get(0,‘defaultUicontrolBackgroundColor’));
end

function edit5_Callback(hObject, eventdata, handles)
% hObject handle to edit5 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,‘String’) returns contents of edit5 as text
% str2double(get(hObject,‘String’)) returns contents of edit5 as a double
%以字符串的形式来存储数据文本框5的内容。如果字符串不是数字，则现实空白内容
input =str2double(get(hObject,‘String’));
%检查输入是否为空. 如果为空,则默认显示为0
if (isempty(input))
set(hObject,‘String’,‘0’)
end
guidata(hObject, handles);

% — Executes during object creation, after setting all properties.
function edit5_CreateFcn(hObject, eventdata, handles)
% hObject handle to edit5 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,‘BackgroundColor’,‘white’);
else
set(hObject,‘BackgroundColor’,get(0,‘defaultUicontrolBackgroundColor’));
end

% — Executes on selection change in popupmenu1.
function popupmenu1_Callback(hObject, eventdata, handles)
% hObject handle to popupmenu1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,‘String’) returns popupmenu1 contents as cell array
% contents{get(hObject,‘Value’)} returns selected item from popupmenu1
popup_sel_index = get(handles.popupmenu1, ‘Value’);
popup_sel_index = get(handles.popupmenu1, ‘Value’);
switch popup_sel_index
case 1
set(handles.text10 ,‘String’,‘期望极点’);
set(handles.text11 ,‘String’,’ -10 -10’);
set(handles.text12 ,‘String’,‘-2+2*sqrt(3)i -2-2sqrt(3)i’);
case 2
set(handles.text10 ,‘String’,‘加权矩阵’);
set(handles.text11 ,‘String’,‘Q=[1 0 0 0; 0 0 0 0; 0 0 1 0;0 0 0 0];’);
set(handles.text12 ,‘String’,’ R=1’);
case 3
set(handles.text10 ,‘String’,‘参考输入’);
set(handles.text11 ,‘String’,’ y_r=0.2U(t)’);
set(handles.text12 ,‘String’,’ ‘);
case 4
set(handles.text10 ,‘String’,‘PID’);
set(handles.text11 ,‘String’,’ P=5，I=0.001，D=1’);
set(handles.text12 ,‘String’,’ ');
end

⛄三、运行结果

⛄四、matlab版本及参考文献

1 matlab版本
2014a

2 参考文献
[1] 门云阁.MATLAB物理计算与可视化[M].清华大学出版社，2013.

3 备注
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