%Static?Lugre?friction?model?identification
clear?all;
close?all;

ts=0.001;??%Sampling?time
for?j=1:1:41
j
v=-1+（j-1）*0.05
dr（j）=v;

xk=zeros（21）;
u_1=0;
for?k=1:1:300
t（k）=k*ts;
r（k）=dr（j）*t（k）;

para=u_1;
tSpan=[0?ts];
[ttxx]=ode45（‘chap9_1plant‘tSpanxk[]para）;????%被控對象
xk=xx（length（xx）:）;
y（k）=xk（1）;?
dy（k）=xk（2）;?????%Practical?speed?value

e（k）=r（k）-y（k）;
de（k）=dr（j）-dy（k）;?

u（k）=200*e（k）+100*de（k）;

u_1=u（k）;
end
pause（0.001）;
figure（1）;
plot（tr‘r‘ty‘b‘）;
xlabel（‘time‘）ylabel（‘Position?tracking‘）;

w（j）=dy（300）;
F_iden（j）=u（300）;??%?Identified?static?friction?force
end

figure（2）;??%?Practical?Static?friction?model
for?j=1:1:41
????if?j>21
????????Fc=0.15;Fs=0.6;alfa=0.02;Vs=0.05;
????????F（j）=[Fc+（Fs-Fc）*exp（-（w（j）/Vs）^2）]*sign（w（j））+alfa*w（j）;
????elseif?j<21
????????Fc=0.2;Fs=0.7;alfa=0.03;Vs=0.05;
????????F（j）=[Fc+（Fs-Fc）*exp（-（w（j）/Vs）^2）]*sign（w（j））+alfa*w（j）;
????else
????????F（j）=0;????????
????end
end
plot（wF‘-or‘）;
xlabel（‘w‘）ylabel（‘Practical?static?friction?force‘）;
hold?on;
plot（wF_iden‘-ob‘）;
xlabel（‘w‘）ylabel（‘Identified?static?friction?force‘）;

figure（3）;
plot（wF-F_iden‘-or‘）;
xlabel（‘speed‘）ylabel（‘Static?friction?force?identification?error‘）;
save?Fi_file?F_iden?F;???%保存實際摩擦力矩和靜態摩擦力矩估計值

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

????......R??????1336??2007-11-14?19:34??第9章仿真程序\chap9_1.m

????......R???????909??2008-03-20?09:52??第9章仿真程序\chap9_10.m

????......R???????930??2008-03-20?09:52??第9章仿真程序\chap9_11.m

????......R???????443??2007-11-14?19:54??第9章仿真程序\chap9_1plant.m

????......R??????2835??2007-11-14?10:47??第9章仿真程序\chap9_2.m

????......R???????881??2007-11-14?20:20??第9章仿真程序\chap9_3cp.m

????......R???????579??2007-11-14?20:21??第9章仿真程序\chap9_3ctrl.m

????......R??????1058??2007-11-14?19:49??第9章仿真程序\chap9_3plant.m

????......R???????104??2007-11-05?10:21??第9章仿真程序\chap9_3plot.m

????......R?????13294??2007-11-14?20:21??第9章仿真程序\chap9_3sim.mdl

????......R???????760??2007-12-01?17:03??第9章仿真程序\chap9_4ctrl.m

????......R??????1013??2007-12-01?17:04??第9章仿真程序\chap9_4ndo.m

????......R??????1183??2007-12-01?17:04??第9章仿真程序\chap9_4plant.m

????......R???????580??2007-05-07?17:36??第9章仿真程序\chap9_4plot.m

????......R?????16518??2007-12-01?16:53??第9章仿真程序\chap9_4sim.mdl

????......R???????854??2007-10-21?21:48??第9章仿真程序\chap9_5ctrl.m

????......R???????816??2007-10-22?15:44??第9章仿真程序\chap9_5obv.m

????......R???????782??2007-10-21?21:47??第9章仿真程序\chap9_5plant.m

????......R???????385??2007-10-21?08:06??第9章仿真程序\chap9_5plot.m

????......R?????11367??2007-12-01?16:43??第9章仿真程序\chap9_5sim.mdl

????......R???????919??2007-09-07?20:37??第9章仿真程序\chap9_6obv.m

????......R???????759??2007-09-07?17:12??第9章仿真程序\chap9_6plant.m

????......R???????440??2007-09-07?20:34??第9章仿真程序\chap9_6plot.m

????......R??????9199??2007-12-01?16:44??第9章仿真程序\chap9_6sim.mdl

????......R???????873??2007-11-29?21:43??第9章仿真程序\chap9_7obv.m

????......R???????741??2007-11-17?21:48??第9章仿真程序\chap9_7plant.m

????......R???????440??2007-11-17?16:05??第9章仿真程序\chap9_7plot.m

????......R??????1325??2007-11-29?22:00??第9章仿真程序\chap9_7rbf.m

????......R?????10650??2007-12-01?16:45??第9章仿真程序\chap9_7sim.mdl

????......R???????845??2007-12-16?09:34??第9章仿真程序\chap9_8ctrl.m

............此處省略11個文件信息