www.gusucode.com > 模糊控制工具箱 fuzzy logic toolbox源码程序 > fuzzy/fuzdemos/animbb.m
function [sys, x0] = animbb(t, x, u, flag, action)
%ANIMBB Animation of BB (ball & beam) system.
% Animation of the ball & beam (BB) system, where a Sugeno-type fuzzy
% controller is used to move the ball to a target position indicated by
% the red triangle.
%
% If the target position is chosen as mouse-driven, you can click your
% mouse inside the red triangle to move it to another position.
%
% Animation S-function: animbb.m
% SIMULINK file: slbb.m
% Roger Jang, 8-18-94
% Copyright 1994-2004 The MathWorks, Inc.
% $Revision: 1.16.2.3 $ $Date: 2004/04/10 23:15:11 $
% User data convention:
% userdata = get(AnimBbFigH, 'userdata');
% userdata(1, :) --> handles for standard SL gui control
% userdata(2, :) --> handles for additional gui control
% userdata(3, :) --> handles for animation objects
global AnimBbFigH AnimBbFigTitle AnimBbAxisH
if ~isempty(flag) & flag == 2,
if any(get(0, 'children') == AnimBbFigH),
if strcmp(get(AnimBbFigH, 'Name'), AnimBbFigTitle),
pos = u(1); theta = u(2); curr_force = u(3); curr_ref = u(4);
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
objectH = tmp(3, :);
% During simulation disenable the Target Position pop-up menu
kids = get(AnimBbFigH,'Children');
PopUpMenuHndl = findobj(kids,'Tag','SourceSelect');
set(PopUpMenuHndl,'enable','off');
% ====== update ball
ballH = objectH(1);
ball = get(ballH, 'userdata');
new_ball = (ball + pos)*exp(j*theta);
set(ballH, 'xdata', real(new_ball), 'ydata', imag(new_ball));
% ====== update beam
beamH = objectH(2);
beam = get(beamH, 'userdata');
new_beam = beam*exp(j*theta);
set(beamH, 'xdata', real(new_beam), 'ydata', imag(new_beam));
% ====== update force arrow
tip1 = new_beam(1, :); % left lower corner
tip2 = new_beam(2, :); % right lower corner
forceH = objectH(3);
force = get(forceH, 'userdata');
if curr_force > 0,
new_force = 2*curr_force*force + tip2;
else
new_force = abs(2*curr_force)*force + tip1;
end
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)*exp(j*theta);
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
% ====== update time
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
timeH = tmp(1, 6);
set(timeH, 'String', ['Time: ', sprintf('%.2f', t)]);
% ====== Store theta as one element of the userdata
% This is used for mouse to set target position
% tmp = get(AnimBbFigH, 'userdata');
tmp(3,5) = theta;
newuserdata.tmp=tmp;
set(AnimBbFigH, 'userdata', newuserdata);
end
end
% ====== return nothing
sys = [];
x0=[];
drawnow; % for invoking with rk45, etc.
elseif ~isempty(flag) & flag == 9, % When simulation stops ...
% ====== change labels of standard UI controls
if any(get(0, 'children') == AnimBbFigH),
if strcmp(get(AnimBbFigH, 'Name'), AnimBbFigTitle),
newuserdata = get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
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(AnimBbFigH,'Children');
PopUpMenuHndl = findobj(kids,'Tag','SourceSelect');
set(PopUpMenuHndl,'enable','on');
end
end
elseif ~isempty(flag) & flag == 0,
% ====== find animation block & figure
[winName] = bdroot(gcs);
AnimBbFigTitle = [winName, ': Ball & Beam Animation'];
AnimBbFigH = findobj(0,'Name',AnimBbFigTitle);
% ====== % No figure, initialize everything
if isempty(AnimBbFigH),
ui_row_n = 2; % No. of UI rows
% ###### default UI settings for SIMUINK ######
AnimBbFigH = figure( ...
'Name', AnimBbFigTitle, ...
'NumberTitle', 'off',...
'DockControls', 'off');
figPos = get(AnimBbFigH, '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)];
AnimBbAxisH = ...
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];
newuserdata.tmp=tmp;
newuserdata.winName=winName;
set(AnimBbFigH, 'userdata', newuserdata);
% ###### 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|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(upH(4),'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);
else
error('Unknown signal generator!');
end
constant_block = [winName, '/Constant'];
if str2double(get_param(constant_block, 'value')) < 0,
set(signalH, 'value', 4);
end
% ====== Appending handles as the second row of userdata
tmp = [signalH dispmodeH -1 -1 -1 -1 -1 -1 -1 -1];
olduserdata=get(AnimBbFigH, 'userdata');
newuserdata.tmp=[olduserdata.tmp; tmp];
newuserdata.winName=winName;
set(AnimBbFigH, 'userdata', newuserdata);
% ###### animation objects ######
% ====== ball
radius = 0.1;
theta = linspace(0, 2*pi, 21);
ball = radius*exp(j*theta) + j*2*radius;
ballH = patch(real(ball), imag(ball), 'm');
set(ballH, 'erase', 'xor');
set(ballH, 'userdata', ball);
% ====== beam
beam_length = 4.0;
beam_width = radius;
beam = beam_length/2*[-1 1 1 -1 -1]' + ...
sqrt(-1)*(beam_width/2*[-1 -1 1 1 -1]' + beam_width/2);
beamH = patch(real(beam), imag(beam), 'y');
set(beamH, 'erase', 'xor');
set(beamH, 'userdata', beam);
% ====== 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;
force = force*exp(j*pi/2);
forceH = line(real(force), imag(force), ...
'erase', 'xor', 'color', 'c', 'clip', 'off');
set(forceH, 'userdata', force, ...
'xdata', [0], 'ydata', [0]);
% ====== reference triangle
ref = 2*beam_width*[-1 1 0 -1]' + ...
sqrt(-1)*(4*beam_width*[0 0 1 0]' - 4*beam_width);
refH = line(real(ref), imag(ref));
set(refH, 'color', 'r', 'linewidth', 2);
%refH = patch(real(ref), imag(ref), 'r');
set(refH, 'erase', 'xor');
set(refH, 'userdata', ref);
% ====== support triangle
support_height = radius*10;
support_width = support_height;
support = support_width/2*[-1 1 0 -1]' + ...
sqrt(-1)*(support_height*[0 0 1 0]' - support_height);
supportH = patch(real(support), imag(support), 'g');
set(supportH, 'erase', 'xor');
set(supportH, 'userdata', ref);
% ====== axis settings
pos_range = [-3 3];
set(AnimBbAxisH, 'clim', [1 64], ...
'xlim', pos_range, ...
'ylim', [-1.5*support_height 2.98-1.5*support_height], ...
'box', 'on');
axis equal;
set(AnimBbAxisH, 'visible', 'off');
% ====== colormap settings for floor
colormap(gray); % To assign correct patch color
patch([pos_range -pos_range], ...
0.2*[-2 -2 0 0]-support_height, [10 10 55 55]);
% ====== append the handles as third row of userdata
tmp = [ballH beamH forceH refH -1 -1 -1 -1 -1 -1];
olduserdata=get(AnimBbFigH, 'userdata');
newuserdata.tmp=[olduserdata.tmp; tmp];
newuserdata.winName=winName;
set(AnimBbFigH, 'userdata', newuserdata);
% ====== change to normalized units
set(findobj(AnimBbFigH,'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 = action2;
% temporary storage for the recall in the down_action
set(AnimBbAxisH,'UserData',action2);
% set action when the mouse is pushed down
down_action=[ ...
'set(AnimBbFigH,''WindowButtonMotionFcn'',get(AnimBbAxisH,''UserData''));' ...
action1];
set(AnimBbFigH,'WindowButtonDownFcn',down_action);
% set action when the mouse is released
up_action=[ ...
'set(AnimBbFigH,''WindowButtonMotionFcn'','' '');', action3];
set(AnimBbFigH,'WindowButtonUpFcn',up_action);
end
% ====== change labels of standard UI controls
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
set(tmp(1, 1), 'visible', 'off');
set(tmp(1, 2:3), 'visible', 'on');
sys = [0 0 0 4 0 0];
x0=[];
set(AnimBbFigH, 'HandleVisibility', 'on');
elseif nargin == 5, % for callbacks of GUI
% ###### standard UI controls
if strcmp(action, 'start_sl'),
% tmp = get(AnimBbFigH, 'userdata');
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
set(tmp(1, 1), 'visible', 'off');
set(tmp(1, 2:3), 'visible', 'on');
winName = newuserdata.winName;
set_param(winName, 'SimulationCommand', 'start');
elseif strcmp(action, 'stop_sl'),
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
set(tmp(1, 1), 'visible', 'on');
set(tmp(1, 2:5), 'visible', 'off');
winName = newuserdata.winName;
set_param(winName, 'SimulationCommand', 'stop');
elseif strcmp(action, 'pause_sl'),
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
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'),
newuserdata= get(AnimBbFigH, 'userdata');
winName=newuserdata.winName;
set_param(winName, 'SimulationCommand', 'step');
elseif strcmp(action, 'continue_sl'),
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
set(tmp(1, 3), 'visible', 'on');
set(tmp(1, 4:5), 'visible', 'off');
set_param(winName, 'SimulationCommand', 'continue');
elseif strcmp(action, 'info'),
helpwin(mfilename);
% title = get(AnimBbFigH, 'Name');
% content = ...
% [' '
% ' Animation of the ball & beam (BB) system, where a '
% ' Sugeno-type fuzzy controller is used to move the '
% ' ball to a target position indicated by the red '
% ' triangle. '
% ' '
% ' If the target position is chosen as mouse-driven, '
% ' you can click your mouse inside the red triangle '
% ' to move it to another position. '
% ' '
% ' Animation S-function: animbb.m '
% ' SIMULINK file: slbb.m '];
% fhelpfun(title, content);
elseif strcmp(action, 'close'),
% [winName, sysName] = get_param;
% set_param(winName, 'Simulation running', 'stop');
delete(AnimBbFigH);
% ###### additional UI controls
elseif strcmp(action, 'target_pos'),
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
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'];
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, % mouse-driven
set_param(constant_block, 'value', '-1');
else
error('Unknown wave option!');
end
elseif strcmp(action, 'show_trail'),
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
dispmodeH = tmp(2, 2);
objectH = tmp(3, 1:4);
dispmode = get(dispmodeH, 'value');
if dispmode == 0, % xor
set(objectH, 'erasemode', 'xor');
set(AnimBbFigH, 'color', get(AnimBbFigH, 'color'));
else
set(objectH, 'erasemode', 'none');
end
elseif strcmp(action, 'clear_trail'),
refresh(AnimBbFigH);
elseif strcmp(action, 'mouse_action')
newuserdata= get(AnimBbFigH, 'userdata');
tmp = newuserdata.tmp;
winName=newuserdata.winName;
if str2double(get_param([winName, '/Constant'], 'value')) < 0,
curr_info = get(AnimBbAxisH, 'CurrentPoint');
% tmp = get(AnimBbFigH, 'UserData');
beamH = tmp(3, 2);
refH = tmp(3, 4);
theta = tmp(3, 5);
beam = get(beamH, 'userdata');
beam_length = real(beam(2)) - real(beam(1));
desired_pos = curr_info(1,1)/cos(theta);
desired_pos = min(max(desired_pos, ...
-beam_length/2.5), beam_length/2.5);
ref = get(refH, 'userdata');
new_ref = (ref + desired_pos)*exp(j*theta);
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
set_param([winName, '/Target Position',13,'(Mouse-Driven)'],...
'value', num2str(desired_pos));
end
else
fprintf('Unknown action string: %s.\n', action);
end
end