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

% Copyright 2000-2001 ECUST. 
%   $Revision: 1.2 $  $Date: 2000/05/02 19:49:38 $

f1=figure('name','控制器增益變化時的輸出響應(yīng)曲線','NumberTitle','off','Menubar','none','resize','off',...
   'pos',[20 50 720 500],'color','w');
open_system('order1')
set_param('order1/R(s)','After','1','SampleTime','0');
set_param('order1/F(s)','After','0','SampleTime','0');
%set_param('order1/Gp(s)','K','1','T','10','tor','3');
set_param('order1/Gp(s)/Transfer Fcn1','Numerator','1');
set_param('order1/Gp(s)/Transfer Fcn1','Denominator','[10 1]');
tor=3;tors=num2str(tor);
set_param('order1/Gp(s)/DT','Delaytime',tors);
set_param('order1/PID/Integral','Numerator','.00001');
open_system('order1/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('order1/PID/Proportional','Gain',yy);
   Op=simset('solver','ode4','fixed',step1);
   [t,x,y]=sim('order1',[0 finalt],Op);
   ZZ(:,i)=x(:,1);
end;
[r,s]=size(ZZ');ss=tor/step1;
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);
shading flat;axis([0 finalt 0 4 0 1.4]);
mesh(X,Y,A);view(-10,20);axis on;
set(gca,'ydir','reverse');
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;
plot(tt,A)
%movie(M,-3,20);
%save kcdata.mat A M t;plot(t,A);grid;
uicontrol('style','frame','pos',[640 25 70 40],'back',[0 1 1]);
uicontrol('style','push','pos',[645 30 60 30],'string','關(guān)  閉',...
   'fonts',14,'fontw','bold','call','close');