关于simulink控制系统建模的四种方法（学习笔记帖）

学习记录：原作者学习视频地址

对于控制系统，有四种方法建立模型（都属于被控系统模型）

建模中推荐将控制系统与被控系统分开，看起来不会乱

1.微分方程（数学知识，用现控第一章方框图来画） 

2.状态空间方程（现代控制理论）白箱

3.s-function函数（适合系统比较复杂的情况）

4.传递函数（经典控制理论）    黑箱

微分方程和传递函数为外部描述（输入输出描述）

状态空间方程为内部描述

在matlab中，如果已知状态空间方程,可让

G=ss（A,B,C,D）；%%%构建状态空间方程  ss=state space

G1=tf（G）;  %%%将状态空间方程G转换为传递函数 tf=transfer function

具体和模型对应关系如下图所示（因为传递函数无法添加初始量），所以结果与其他三个不一样

s-function代码如下所示

function [sys,x0,str,ts,simStateCompliance] = fourA(t,x,u,flag,A,B,C,D)


switch flag,

  %%%%%%%%%%%%%%%%%%
  % Initialization %
  %%%%%%%%%%%%%%%%%%
  case 0,
    [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;

  %%%%%%%%%%%%%%%
  % Derivatives %
  %%%%%%%%%%%%%%%
  case 1,
    sys=mdlDerivatives(t,x,u,A,B);

  %%%%%%%%%%
  % Update %
  %%%%%%%%%%
  case 2,
    sys=mdlUpdate(t,x,u);

  %%%%%%%%%%%
  % Outputs %
  %%%%%%%%%%%
  case 3,
    sys=mdlOutputs(t,x,u,C,D);

  %%%%%%%%%%%%%%%%%%%%%%%
  % GetTimeOfNextVarHit %
  %%%%%%%%%%%%%%%%%%%%%%%
  case 4,
    sys=mdlGetTimeOfNextVarHit(t,x,u);

  %%%%%%%%%%%%%
  % Terminate %
  %%%%%%%%%%%%%
  case 9,
    sys=mdlTerminate(t,x,u);

  %%%%%%%%%%%%%%%%%%%%
  % Unexpected flags %
  %%%%%%%%%%%%%%%%%%%%
  otherwise
    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));

end

% end sfuntmpl

%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes

%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded.  This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;

sizes.NumContStates  = 2;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 1;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   % at least one sample time is needed

sys = simsizes(sizes);

%
% initialize the initial conditions
%
x0  = [1 2];

%
% str is always an empty matrix
%
str = [];

%
% initialize the array of sample times
%
ts  = [0 0];

% Specify the block simStateCompliance. The allowed values are:
%    'UnknownSimState', < The default setting; warn and assume DefaultSimState
%    'DefaultSimState', < Same sim state as a built-in block
%    'HasNoSimState',   < No sim state
%    'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';

% end mdlInitializeSizes

%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u,A,B)

sys = A*x+B*u;

% end mdlDerivatives

%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)

sys = [];

% end mdlUpdate

%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u,C,D)

sys = C*x+D*u;

% end mdlOutputs

%
%=============================================================================
% mdlGetTimeOfNextVarHit
% Return the time of the next hit for this block.  Note that the result is
% absolute time.  Note that this function is only used when you specify a
% variable discrete-time sample time [-2 0] in the sample time array in
% mdlInitializeSizes.
%=============================================================================
%
function sys=mdlGetTimeOfNextVarHit(t,x,u)

sampleTime = 1;    %  Example, set the next hit to be one second later.
sys = t + sampleTime;

% end mdlGetTimeOfNextVarHit

%
%=============================================================================
% mdlTerminate
% Perform any end of simulation tasks.
%=============================================================================
%
function sys=mdlTerminate(t,x,u)

sys = [];

% end mdlTerminate

参数代码如下

A=[-2 1;-3 -1];
B=[0;1];
C=[1,0];
D=0;

通过选中各个输出log selected signals比较各个输出

结果中除传递函数外，其他输出结果重合，可见各个建模方式只是形式区别，结果无异，结果如下图：

 具体资源可自行下载（是免费的）