% 程序用于顯示在控制器增益變化時答對控制系統的影響
% 采用不同視角對它們進行觀測，并用動畫顯示

% Copyright 2001-2002 ECUST. 
%   $Revision: 1.2 $  $Date: 2002/01/22 20:09:21 $
f1=figure('name','控制器增益變化時的輸出響應曲線','NumberTitle','off',...
    'Menubar','none','resize','off','pos',[50 50 450 300],'color','w');
open_system('order12');set_param('order12/R(s)','After','1');
set_param('order12/F(s)','After','0');
set_param('order12/Gp(s)/Transfer Fcn1','Numerator','1');
set_param('order12/Gp(s)/Transfer Fcn1','Denominator','[10 1]');
tor=3;tors=num2str(tor);
set_param('order12/Gp(s)/DT','Delaytime',tors);set_param('order12/PID','Ti','100000');
open_system('order12/SC');step1=0.1;finalt=50;ZZ(finalt/step1+1,10)=0;
for i=1:10;
   kc=0.4*i;yy=num2str(kc);set_param('order12/PID','Kc',yy);
   Op=simset('solver','ode4','fixed',step1);
   [t,x,y]=sim('order12',[0 finalt],Op);ZZ(:,i)=x(:,1);
end;
[r,s]=size(ZZ');ss=tor/step1;axes('pos',[0.15,0.15,0.7,0.7]);
A(1:10,1:s)=0;A(1:10,ss+1:s)=ZZ(1:s-ss,1:10)';A=A/10;
tt=0:step1:finalt;yt=.4:.4:4;[X,Y]=meshgrid(tt,yt);
axis([0 finalt 0 4 0 1.4]);surf(X,Y,A);view(-10,20);axis on;brighten(0.5)
set(gca,'ydir','reverse');colormap jet;shading flat;
xlabel('Time');ylabel('Kc');zlabel('Output');
M=moviein(20);map=colormap;
for ii=1:20
   view(-10+ii/2,20-ii);M(:,ii)=getframe;
end;
movie(M,-3,20);plot(t,A);grid;
%save c:\kcdata.mat A M t;