{"id":49461,"date":"2025-07-30T18:26:36","date_gmt":"2025-07-30T10:26:36","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/49461.html"},"modified":"2025-07-30T18:26:36","modified_gmt":"2025-07-30T10:26:36","slug":"%e5%9f%ba%e4%ba%8ematlab%e7%bc%96%e7%a8%8b%e5%ae%9e%e7%8e%b0%e6%97%a0%e4%ba%ba%e6%9c%ba%e7%bc%96%e9%98%9f%e4%bb%bf%e7%9c%9f","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/49461.html","title":{"rendered":"\u57fa\u4e8eMATLAB\u7f16\u7a0b\u5b9e\u73b0\u65e0\u4eba\u673a\u7f16\u961f\u4eff\u771f"},"content":{"rendered":"<p>\u65e0\u4eba\u673a\u7f16\u961f\u4eff\u771f \u529f\u80fd&#xff1a;\u4e5d\u67b6\u65e0\u4eba\u673a\u4ece\u4e0d\u540c\u521d\u59cb\u4f4d\u7f6e\u96c6\u7ed3\u4e3a\u6b63\u65b9\u5f62\u7f16\u961f&#xff0c;\u4e4b\u540e\u53d8\u6362\u4e3a\u4e09\u89d2\u5f62\u7f16\u961f&#xff0c;\u5e76\u8fdb\u884c\u7f16\u961f\u8f6c\u5f2f\u3001\u76f4\u7ebf\u98de\u884c\u4ee5\u53ca\u722c\u5347\u3002 \u7b97\u6cd5&#xff1a;\u9886\u822a\u8ddf\u968f&#043;\u4eba\u5de5\u52bf\u573a&#043;PID MATLAB\u7f16\u7a0b\u5b9e\u73b0&#xff0c;\u4ee3\u7801\u6ce8\u91ca\u6e05\u695a \u4ee5\u4e0b\u6587\u5b57\u53ca\u793a\u4f8b\u4ee3\u7801\u4ec5\u4f9b\u53c2\u8003<\/p>\n<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>\n<ul>\n<li>\n<ul>\n<li>1 \u6548\u679c\u62a2\u5148\u770b<\/li>\n<li>2 \u7b97\u6cd5\u6846\u67b6<\/li>\n<li>3 \u6587\u4ef6\u7ed3\u6784<\/li>\n<li>4 \u6570\u5b66\u6a21\u578b&#xff08;\u8282\u9009&#xff09;<\/li>\n<li>5 \u6838\u5fc3\u4ee3\u7801<\/li>\n<li>\n<ul>\n<li>5.1 \u4e3b\u811a\u672c &#096;main.m&#096;<\/li>\n<li>5.2 \u9886\u822a\u673a\u822a\u8ff9 &#096;leaderTraj.m&#096;<\/li>\n<li>5.3 \u7f16\u961f\u63a7\u5236 &#096;formationCtrl.m&#096;<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h4>1 \u6548\u679c\u62a2\u5148\u770b<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730102635-6889f35b09b7c.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730102635-6889f35b4dd8a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730102635-6889f35b76a7e.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>2 \u7b97\u6cd5\u6846\u67b6<\/h4>\n<ul>\n<li>\u9886\u822a\u673a&#xff1a;\u7ed9\u5b9a\u5168\u5c40\u822a\u8ff9&#xff08;\u76f4\u7ebf\/\u5706\u5f27\/\u722c\u5347&#xff09;&#xff1b;<\/li>\n<li>\u8ddf\u968f\u673a&#xff1a;\n<li>\u9886\u822a-\u8ddf\u968f \u671f\u671b\u76f8\u5bf9\u4f4d\u7f6e&#xff1b;<\/li>\n<li>\u4eba\u5de5\u52bf\u573a \u9632\u6b62\u78b0\u649e&#xff1b;<\/li>\n<li>PID \u8f93\u51fa\u671f\u671b\u52a0\u901f\u5ea6 \u2192 \u79ef\u5206\u5f97\u901f\u5ea6\u3001\u4f4d\u7f6e\u3002<\/li>\n<\/li>\n<\/ul>\n<hr \/>\n<h4>3 \u6587\u4ef6\u7ed3\u6784<\/h4>\n<p>Quad9_Formation\/<br \/>\n \u251c\u2500 main.m              % \u4e00\u952e\u8fd0\u884c<br \/>\n \u251c\u2500 leaderTraj.m        % \u9886\u822a\u673a\u822a\u8ff9\u751f\u6210<br \/>\n \u251c\u2500 formationCtrl.m     % \u7f16\u961f\u63a7\u5236&#xff08;\u9886\u822a&#043;\u52bf\u573a&#043;PID&#xff09;<br \/>\n \u251c\u2500 potentialField.m    % \u4eba\u5de5\u52bf\u573a<br \/>\n \u251c\u2500 plot3D.m            % \u5b9e\u65f6\u4e09\u7ef4\u52a8\u753b<br \/>\n \u2514\u2500 README.pdf          % \u516c\u5f0f &amp; \u8c03\u53c2<\/p>\n<hr \/>\n<h4>4 \u6570\u5b66\u6a21\u578b&#xff08;\u8282\u9009&#xff09;<\/h4>\n<ul>\n<li>\n<p>\u9886\u822a\u673a\u72b6\u6001 [ \\\\boldsymbol{p}L(k)&#061;\\\\begin{bmatrix}x_L\\\\y_L\\\\z_L\\\\end{bmatrix},\\\\quad \\\\psi_L(k)&#061;\\\\text{atan2}(v{Ly},v_{Lx}) ]<\/p>\n<\/li>\n<li>\n<p>\u8ddf\u968f\u673a\u671f\u671b\u4f4d\u7f6e \u6b63\u65b9\u5f62&#xff1a; [ \\\\boldsymbol{d}i&#061;R(\\\\psi_L)\\\\cdot \\\\underbrace{\\\\begin{bmatrix}s_x(i)\\\\s_y(i)\\\\0\\\\end{bmatrix}}{\\\\text{\u76f8\u5bf9\u5750\u6807}} &#043;\\\\boldsymbol{p}_L ] \u4e09\u89d2\u5f62&#xff1a; [ \\\\boldsymbol{d}_i&#061;R(\\\\psi_L)\\\\cdot \\\\begin{bmatrix}r\\\\cos\\\\theta_i\\\\r\\\\sin\\\\theta_i\\\\0\\\\end{bmatrix} &#043;\\\\boldsymbol{p}_L,\\\\quad \\\\theta_i&#061;\\\\frac{2\\\\pi}{9}(i-1) ]<\/p>\n<\/li>\n<li>\n<p>\u4eba\u5de5\u52bf\u573a\u529b&#xff08;\u673a\u95f4\u6392\u65a5&#xff09; [ \\\\boldsymbol{F}{ij}&#061; \\\\begin{cases} k{\\\\text{rep}}\\\\left(\\\\frac{1}{d_{ij}}-\\\\frac{1}{d_{\\\\text{safe}}}\\\\right)\\\\frac{\\\\boldsymbol{p}i-\\\\boldsymbol{p}j}{d{ij}},&amp; d{ij}&lt;d_{\\\\text{safe}}\\\\[4pt] \\\\boldsymbol{0},&amp; \\\\text{otherwise} \\\\end{cases} ]<\/p>\n<\/li>\n<li>\n<p>PID \u63a7\u5236 [ \\\\boldsymbol{u}_i&#061;K_p\\\\boldsymbol{e}_i&#043;K_i\\\\int\\\\boldsymbol{e}i&#043;K_d\\\\dot{\\\\boldsymbol{e}}i&#043;\\\\sum{j\\\\neq i}\\\\boldsymbol{F}{ij} ]<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h4>5 \u6838\u5fc3\u4ee3\u7801<\/h4>\n<h5>5.1 \u4e3b\u811a\u672c main.m<\/h5>\n<p>clc<span class=\"token punctuation\">;<\/span> clear<span class=\"token punctuation\">;<\/span> close all<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">addpath<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">genpath<\/span><span class=\"token punctuation\">(<\/span>pwd<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">%% \u53c2\u6570<\/span><br \/>\nN        <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">9<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">% \u65e0\u4eba\u673a\u6570\u91cf<\/span><br \/>\ndt       <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.05<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">% \u6b65\u957f (s)<\/span><br \/>\nTsim     <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">120<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">% \u603b\u65f6\u957f<\/span><br \/>\nRsafe    <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1.5<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">% \u52bf\u573a\u5b89\u5168\u8ddd\u79bb<\/span><br \/>\nkp <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span> <span class=\"token number\">2<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> ki <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0.1<\/span> <span class=\"token number\">0.1<\/span> <span class=\"token number\">0.05<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> kd <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span> <span class=\"token number\">1<\/span> <span class=\"token number\">0.5<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">% PID<\/span><\/p>\n<p><span class=\"token comment\">%% \u521d\u59cb\u72b6\u6001<\/span><br \/>\np <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">10<\/span><span class=\"token operator\">*<\/span><span class=\"token function\">randn<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">% \u968f\u673a\u4f4d\u7f6e<\/span><br \/>\nv <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">zeros<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">%% \u9636\u6bb5\u65f6\u95f4\u7ebf<\/span><br \/>\nphaseTime <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span> <span class=\"token number\">20<\/span> <span class=\"token number\">40<\/span> <span class=\"token number\">70<\/span> <span class=\"token number\">120<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">% \u65f6\u95f4\u5206\u754c<\/span><br \/>\n<span class=\"token comment\">% 0-20: \u6b63\u65b9\u5f62&#xff1b;20-40: \u4e09\u89d2\u5f62&#xff1b;40-70: \u5de6\u8f6c90\u00b0&#xff1b;70-120: \u76f4\u7ebf&#043;\u722c\u5347<\/span><\/p>\n<p><span class=\"token comment\">%% \u4eff\u771f\u4e3b\u5faa\u73af<\/span><br \/>\n<span class=\"token function\">figure<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#039;Name&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;9-UAV Formation&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;Color&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;w&#039;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token function\">view<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> grid on<span class=\"token punctuation\">;<\/span> axis equal<br \/>\nhL <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">plot3<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">NaN<\/span><span class=\"token punctuation\">,<\/span><span class=\"token keyword\">NaN<\/span><span class=\"token punctuation\">,<\/span><span class=\"token keyword\">NaN<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;ko&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;MarkerSize&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;MarkerFaceColor&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;b&#039;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nhF <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">plot3<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">NaN<\/span><span class=\"token punctuation\">,<\/span><span class=\"token keyword\">NaN<\/span><span class=\"token punctuation\">,<\/span><span class=\"token keyword\">NaN<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;ro&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;MarkerSize&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nhold on<\/p>\n<p><span class=\"token keyword\">for<\/span> k <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token operator\">:<\/span><span class=\"token function\">round<\/span><span class=\"token punctuation\">(<\/span>Tsim<span class=\"token operator\">\/<\/span>dt<span class=\"token punctuation\">)<\/span><br \/>\n    t <span class=\"token operator\">&#061;<\/span> k<span class=\"token operator\">*<\/span>dt<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">% \u9636\u6bb5\u5207\u6362<\/span><br \/>\n    phase <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">find<\/span><span class=\"token punctuation\">(<\/span>t<span class=\"token operator\">&gt;&#061;<\/span>phaseTime<span class=\"token punctuation\">,<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;last&#039;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">% \u9886\u822a\u673a\u822a\u8ff9<\/span><br \/>\n    <span class=\"token punctuation\">[<\/span>pL<span class=\"token punctuation\">,<\/span>vL<span class=\"token punctuation\">,<\/span>psiL<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">leaderTraj<\/span><span class=\"token punctuation\">(<\/span>t<span class=\"token punctuation\">,<\/span>phase<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">% \u7f16\u961f\u63a7\u5236<\/span><br \/>\n    <span class=\"token punctuation\">[<\/span>p<span class=\"token punctuation\">,<\/span>v<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">formationCtrl<\/span><span class=\"token punctuation\">(<\/span>p<span class=\"token punctuation\">,<\/span>v<span class=\"token punctuation\">,<\/span>pL<span class=\"token punctuation\">,<\/span>vL<span class=\"token punctuation\">,<\/span>psiL<span class=\"token punctuation\">,<\/span>phase<span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">,<\/span>kp<span class=\"token punctuation\">,<\/span>ki<span class=\"token punctuation\">,<\/span>kd<span class=\"token punctuation\">,<\/span>Rsafe<span class=\"token punctuation\">,<\/span>dt<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">% \u7ed8\u56fe<\/span><br \/>\n    <span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span>hL<span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;XData&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token function\">pL<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;YData&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token function\">pL<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;ZData&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token function\">pL<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">set<\/span><span class=\"token punctuation\">(<\/span>hF<span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;XData&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;YData&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token string\">&#039;ZData&#039;<\/span><span class=\"token punctuation\">,<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    drawnow<span class=\"token punctuation\">;<\/span> <span class=\"token keyword\">pause<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0.01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">end<\/span><\/p>\n<h5>5.2 \u9886\u822a\u673a\u822a\u8ff9 leaderTraj.m<\/h5>\n<p><span class=\"token keyword\">function<\/span> <span class=\"token punctuation\">[<\/span>pL<span class=\"token punctuation\">,<\/span>vL<span class=\"token punctuation\">,<\/span>psiL<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">leaderTraj<\/span><span class=\"token punctuation\">(<\/span>t<span class=\"token punctuation\">,<\/span>phase<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">switch<\/span> phase<br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">1<\/span>    <span class=\"token comment\">% \u6b63\u65b9\u5f62\u9636\u6bb5&#xff0c;\u9759\u6b62<\/span><br \/>\n        pL <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">]<\/span><span class=\"token string\">&#039;; vL &#061; [0 0 0]&#039;<\/span><span class=\"token punctuation\">;<\/span> psiL <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">2<\/span>    <span class=\"token comment\">% \u4e09\u89d2\u5f62\u9636\u6bb5&#xff0c;\u9759\u6b62<\/span><br \/>\n        pL <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">]<\/span><span class=\"token string\">&#039;; vL &#061; [0 0 0]&#039;<\/span><span class=\"token punctuation\">;<\/span> psiL <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">3<\/span>    <span class=\"token comment\">% \u5de6\u8f6c\u5706\u5f27<\/span><br \/>\n        R <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">30<\/span><span class=\"token punctuation\">;<\/span> omega <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.2<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        psiL <span class=\"token operator\">&#061;<\/span> omega<span class=\"token operator\">*<\/span>t<span class=\"token punctuation\">;<\/span><br \/>\n        pL <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span>R<span class=\"token operator\">*<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> R<span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        vL <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span>R<span class=\"token operator\">*<\/span>omega<span class=\"token operator\">*<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> R<span class=\"token operator\">*<\/span>omega<span class=\"token operator\">*<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">4<\/span>    <span class=\"token comment\">% \u76f4\u7ebf &#043; \u722c\u5347<\/span><br \/>\n        vL <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">5<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">0.5<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#039;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        pL <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#043;<\/span> vL<span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span>t<span class=\"token operator\">&#8211;<\/span><span class=\"token number\">70<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">end<\/span><\/p>\n<h5>5.3 \u7f16\u961f\u63a7\u5236 formationCtrl.m<\/h5>\n<p><span class=\"token keyword\">function<\/span> <span class=\"token punctuation\">[<\/span>p<span class=\"token punctuation\">,<\/span>v<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">formationCtrl<\/span><span class=\"token punctuation\">(<\/span>p<span class=\"token punctuation\">,<\/span>v<span class=\"token punctuation\">,<\/span>pL<span class=\"token punctuation\">,<\/span>vL<span class=\"token punctuation\">,<\/span>psiL<span class=\"token punctuation\">,<\/span>phase<span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">,<\/span>kp<span class=\"token punctuation\">,<\/span>ki<span class=\"token punctuation\">,<\/span>kd<span class=\"token punctuation\">,<\/span>Rsafe<span class=\"token punctuation\">,<\/span>dt<span class=\"token punctuation\">)<\/span><br \/>\npersistent int_e<br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token function\">isempty<\/span><span class=\"token punctuation\">(<\/span>int_e<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> int_e <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">zeros<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token keyword\">end<\/span><\/p>\n<p><span class=\"token comment\">% \u751f\u6210\u671f\u671b\u76f8\u5bf9\u4f4d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">switch<\/span> phase<br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">1<\/span>    <span class=\"token comment\">% \u6b63\u65b9\u5f62<\/span><br \/>\n        side <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span> offset <span class=\"token operator\">&#061;<\/span> side<span class=\"token operator\">\/<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        rel <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span> <span class=\"token operator\">&#8211;<\/span>offset <span class=\"token operator\">&#8211;<\/span>offset <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> offset <span class=\"token operator\">&#8211;<\/span>offset <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> offset offset <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token operator\">&#8211;<\/span>offset offset <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                <span class=\"token operator\">&#8211;<\/span>offset <span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> offset <span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token number\">0<\/span> <span class=\"token operator\">&#8211;<\/span>offset <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token number\">0<\/span> offset <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#039;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">2<\/span>    <span class=\"token comment\">% \u4e09\u89d2\u5f62<\/span><br \/>\n        r <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">;<\/span> theta <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">linspace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">2<\/span><span class=\"token operator\">*<\/span><span class=\"token keyword\">pi<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token operator\">&#043;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token function\">theta<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">end<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        rel <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span>r<span class=\"token operator\">*<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>theta<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> r<span class=\"token operator\">*<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>theta<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token function\">zeros<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">}<\/span><br \/>\n        rel <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span>r<span class=\"token operator\">*<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>theta<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> r<span class=\"token operator\">*<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>theta<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token function\">zeros<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">end<\/span><\/p>\n<p><span class=\"token comment\">% \u65cb\u8f6c\u5230\u9886\u822a\u673a\u5750\u6807\u7cfb<\/span><br \/>\nRpsi <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span> <span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>psiL<span class=\"token punctuation\">)<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">0<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\npd   <span class=\"token operator\">&#061;<\/span> pL <span class=\"token operator\">&#043;<\/span> Rpsi<span class=\"token operator\">*<\/span>rel<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">% \u52bf\u573a\u529b<\/span><br \/>\nFrep <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">zeros<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span>N<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">for<\/span> <span class=\"token number\">i<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token operator\">:<\/span>N<br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token number\">j<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">:<\/span><span class=\"token number\">i<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">i<\/span><span class=\"token operator\">&#043;<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">:<\/span>N<span class=\"token punctuation\">]<\/span><br \/>\n        d <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">norm<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">i<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">j<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> d <span class=\"token operator\">&lt;<\/span> Rsafe<br \/>\n            <span class=\"token function\">Frep<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">i<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Frep<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">i<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">\/<\/span>d<span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">\/<\/span>Rsafe<span class=\"token punctuation\">)<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">i<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token function\">p<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">:<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">j<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">\/<\/span>d<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">end<\/span><br \/>\n    <span class=\"token keyword\">end<\/span><br \/>\n<span class=\"token keyword\">end<\/span><\/p>\n<p><span class=\"token comment\">% PID<\/span><br \/>\ne <span class=\"token operator\">&#061;<\/span> pd <span class=\"token operator\">&#8211;<\/span> p<span class=\"token punctuation\">;<\/span><br \/>\nint_e <span class=\"token operator\">&#061;<\/span> int_e <span class=\"token operator\">&#043;<\/span> e<span class=\"token operator\">*<\/span>dt<span class=\"token punctuation\">;<\/span><br \/>\nde <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>kp<span class=\"token operator\">.*<\/span>e <span class=\"token operator\">&#043;<\/span> ki<span class=\"token operator\">.*<\/span>int_e <span class=\"token operator\">&#8211;<\/span> v<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> kd<span class=\"token operator\">.*<\/span><span class=\"token punctuation\">(<\/span>v <span class=\"token operator\">&#8211;<\/span> vL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\na <span class=\"token operator\">&#061;<\/span> de <span class=\"token operator\">&#043;<\/span> Frep<span class=\"token punctuation\">;<\/span><br \/>\nv <span class=\"token operator\">&#061;<\/span> v <span class=\"token operator\">&#043;<\/span> a<span class=\"token operator\">*<\/span>dt<span class=\"token punctuation\">;<\/span><br \/>\np <span class=\"token operator\">&#061;<\/span> p <span class=\"token operator\">&#043;<\/span> v<span class=\"token operator\">*<\/span>dt<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">end<\/span><\/p>\n<hr \/>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb379\u6b21\uff0c\u70b9\u8d5e3\u6b21\uff0c\u6536\u85cf11\u6b21\u3002\u65e0\u4eba\u673a\u7f16\u961f\u4eff\u771f\u529f\u80fd\uff1a\u4e5d\u67b6\u65e0\u4eba\u673a\u4ece\u4e0d\u540c\u521d\u59cb\u4f4d\u7f6e\u96c6\u7ed3\u4e3a\u6b63\u65b9\u5f62\u7f16\u961f\uff0c\u4e4b\u540e\u53d8\u6362\u4e3a\u4e09\u89d2\u5f62\u7f16\u961f\uff0c\u5e76\u8fdb\u884c\u7f16\u961f\u8f6c\u5f2f\u3001\u76f4\u7ebf\u98de\u884c\u4ee5\u53ca\u722c\u5347\u3002\u7b97\u6cd5\uff1a\u9886\u822a\u8ddf\u968f+\u4eba\u5de5\u52bf\u573a+PIDMATLAB\u7f16\u7a0b\u5b9e\u73b0\uff0c\u4ee3\u7801\u6ce8\u91ca\u6e05\u695a\u4ee5\u4e0b\u6587\u5b57\u53ca\u793a\u4f8b\u4ee3\u7801\u4ec5\u4f9b\u53c2\u8003<\/p>\n","protected":false},"author":2,"featured_media":49458,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[1284,190,3267,2918],"topic":[],"class_list":["post-49461","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-matlab","tag-190","tag-3267","tag-2918"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u57fa\u4e8eMATLAB\u7f16\u7a0b\u5b9e\u73b0\u65e0\u4eba\u673a\u7f16\u961f\u4eff\u771f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/49461.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u57fa\u4e8eMATLAB\u7f16\u7a0b\u5b9e\u73b0\u65e0\u4eba\u673a\u7f16\u961f\u4eff\u771f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" 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