www.gusucode.com > Backhoe Model in Simscape工具箱matlab源码程序 > Backhoe Model in Simscape/Backhoe_R18b/Scripts_Data/Backhoe_Arm_plot1angle.m
% Code to plot simulation results from Backhoe_Arm %% Plot Description: % % The plot below shows the reference and measured angle for joints within % the backhoe arm. % % Copyright 2017-2018 The MathWorks, Inc. % Generate simulation results if they don't exist if ~exist('simlog_Backhoe_Arm', 'var') sim('Backhoe_Arm') end % Reuse figure if it exists, else create new figure if ~exist('h1_Backhoe_Arm', 'var') || ... ~isgraphics(h1_Backhoe_Arm, 'figure') h1_Backhoe_Arm = figure('Name', 'Backhoe_Arm'); end figure(h1_Backhoe_Arm) clf(h1_Backhoe_Arm) temp_colororder = get(gca,'defaultAxesColorOrder'); % Get simulation results simlog_jointAngleMeas = logsout_Backhoe_Arm.get('Joint_Angle_Meas'); simlog_jointAngleRef = logsout_Backhoe_Arm.get('Joint_Angle_Ref'); % Plot results plot(simlog_jointAngleMeas.Values.Time, simlog_jointAngleMeas.Values.Data, 'LineWidth', 1) hold on plot(simlog_jointAngleRef.Values.Time, simlog_jointAngleRef.Values.Data, 'k-.','LineWidth', 1) hold off grid on title('Backhoe Arm Joint Angles') ylabel('Angle (deg)') legend({'Bucket','Upper Arm','Lower Arm','Reference'},'Location','Best'); xlabel('Time (s)') text(0.01,0.05,['# Steps: ' num2str(length(simlog_jointAngleMeas.Values.Time))],... 'Units','Normalized','Color',[0.7 0.7 0.7]); % Remove temporary variables clear simlog_jointAngleMeas simlog_jointAngleRef temp_colororder