动态建模仿真实验报告

动态系统建模仿真实验（II）院系：人文社会科学学院专业：科学与技术教育姓名：于建学号：ZY1411111指导教师：马耀飞2014年12月一、 实验目的熟悉Matlab软件的使用，并学习Matlab中VR以及GUI界面的使用。通过在Matlab环境中对四旋呢飞行器进行系统建模，使掌握以下内容：四旋翼飞行器的建模和控制方法、在Matlab下快速建立虚拟可视化环境的方法。二、 实验工具PC—台，Matlab软件三、 实验基本知识Matlab基本知识在此不加详述。在Mablab中制作VR场景Matlab的“虚拟现实工具箱(VRToolbox)”就是让我们在matlab下建立虚拟现实环境，可以将建模、仿真和显示联为一体。(1)进入目录u<matlabroot>\toolbox\sl3d\vrealm\program”，双击启动vrbuild2.exe；注：<matlabroot〉为matlab的安装路径。FileHNew(或Ctrl+N)新建一个三维场景(Newworld)(2)将VR场景导入Matlab,SimulinkQ]Filed)New,新建一个Simulink文档。在“Simulink3DAnimationM库中选择"VRSinkM组件,加入文档中。3・在Matlab中进行GUI界面的设计建立了控制回路以后，有时候我们需要对控制回路的参数进行调幣，以获得不同的控制效果。这时候，一个方面的用户GUI界面将会帮我们节省很多工作。下而介绍在Matlab里建立GUI界面的过程，打开GUI工具。在命令行中输入“guide”指令，会打开Matlab的GUI设计工具；创建控件在左侧边栏里，我们可以看到有很多常用的控件可以使用。常用的控件包括：ButtonGroup：表示界面上的一块区域；EditText：文字编辑控件StaticText：静态文本，显示说明性的文字；PushButton：按钮。对任何一个控件，我们可以通过右键点击察看、编辑它的一系列属性，如下图所示。有两个属性比较重要：Tag：控件的变量名：String：控件显示的内容（3）为按钮添加响应函数。响应函数的添加过程为：按钮上点击右键，选择ViewCallback.'Callback,Matlab会自动生成按钮的响应函数，使用户添加代码。4.四旋翼飞行器控制建模（1）四旋嵬飞行器简介四旋翼E行器通过四个螺旋桨产生的升力实现飞行，原理与直升机类似。四个旋翼•位于一个几何对称的十字支架前，后，左，右四端，如图3-1所示。旋天由电机控制；整个飞行器依靠改变每个电机的转速來实现飞行姿态控制。图3J在图3-1中，前端旋嵬1和后端旋翼3逆时针旋转，而左端旋翼2和右端的旋翼•4顺时针旋转，以平衡旋翼旋转所产生的反扭转矩。由此可知，悬停时：四只旋呢的转速应该相等，以相互抵消反扭力矩；同时等星地增大或减小四只旋翼•的转速，会引起上升或下降运动：增大某一只旋翼的转速，同时等量地减小同组另一只旋翼的转速，则产生俯仰、横滚运动：增大某一组旋翼的转速，同时等量减小另一组旋翼的转速，将产生偏航运动。从动力学角度分析，四旋翼E行器系统本身是不稳定的，因此，使系统稳定的控制算法的设计显得尤为关键。由于四旋砲飞行器为六自由度的系统(三个角位移量，三个线位移量)，而其控制量只有四个(4个旋翼的转速)，这就意味着被控星之间存在耦合关系。因此，控制算法应能够对这种欠驱动(under-actuated)系统足够有效，用四个控制量对三个角位移量和三个线位移最进行稳态控制。本实验针对四旋翼飞行器的悬浮飞行状态进行建模。(2)受力分析图3-2四旋翼飞行器受力分析图如图3-2所示，旋翼•机体所受外力和力矩为：重力mg，沿為方向；四个旋翼旋转所产生的升力F,(i=1,2,3,4),沿Zb方向；旋翼旋转会产生扭转力矩Mf(i=1,2,3,4)。垂直于叶片的旋翼•平面,与旋转矢量相反。得到运动方程如下飞行器受到外界力和力矩的作用，形成线运动和角运动。线运动由合外力引起，符合牛顿第二定律，如下公式所示：

mr—mr—0--0-0+Rb2w0.mg.r为飞机的位置矢量。注意：以上公式是在地平面坐标系中进行描述的。角运动由合力矩引起。四旋翼飞行器所受力矩來源于两个方面：1） 旋翼升力作用于质心产生的力矩：2） 旋翼旋转产生的扭转力矩。XrPiq角运动方程如下公式所示。其中，L为旋興•中心到飞行器质心的距离，I为惯量矩阵。XrPiq•p・q•厂L®一耳)•p・q•厂L®_F3)M?十M4—M丄一（3（3）控制回路设计图3-3包含内外两个控制回路的控制结构夕卜回路由PositionControl模块实现。输入为位置误差，输出为期望的滚转、俯仰和偏航角&鈕（t）,B鈕（t）冲des®）。内回路由AttitudeControl模块实现，输入为期唱姿态角，输出为期唱转速@3如血❾血屮）。MotorDynamics模块模拟电机特性，输入为期望转速，输出为力和力矩。RigidBodyDynamics是被控对象，模拟四旋翼飞行器的运动特性。1）内回路：姿态控制回路对四旋呢飞行器，我们唯一可用的控制手段就是四个旋翼的转速。因此，这里首先对转速3产生的作用进行分析。因此，可以将期望转速写成儿个分量的线性组合：3严=少九+厶轴+—卜3申其它儿个旋魂也可进行类似分析，最终得到r..desjQJ]j01-r5+八desCl）21101z.desWo10-1-1kJf.desLW4」.1-101・-△叫-在悬浮状态下，四个旋翼•共同的升力应抵消重力，因此3h满足下式:4心応=mg此时，我们可以把旋翼角速度分成几个部分分别控制，通过“比例-微分”控制律建立如下公式：△ _0)+kd(p(<(pdeS—△3®=kp^6des一&)+S0es一Q)43申=kpxpQipdes_0)+kdtfjQipdes-0)将三个方程带入并简化，可得到“期望姿态角■期望转速”之间的关系，即内回路。2)外回路：位置控制回路期望位置记为屮铝。可通过PID控制器计算控制信号：(冷一甲")+kd,i^.T-片)+kPArij-H)+心訂(“-叩=0我们通过俯仰角和滚转角控制飞行器在孤和％半面上的运动，通过A3屮控制偏航角，通过A3F控制E行器在Zb轴上的运动。可得到以下公式：mrr=(sin</>sinip+coscfjcosipsind)*力Ftmr2=(-cosipsin(p+cos(psin0sinip)*JFtmr3=mg+cos（f）cos6*E片

线性化后，可得到控制信号（期望加速度）与期望姿态角之间的关系:=g((pdessimpT+9descosi/jt')iidesriidesr2=sinipT—(pdescosi/jT')4Cjl)f通过PID控制器得到了作为控制信号的期里加迦匕因此，将上式反转，由期望加速度计算期望姿态角，作为内回路的输入：gdes<f>des=-(f^essinipT—r2escosx/)T)gdes—-(r^escosipT+r/essinipr)力€c）力€c）f—ni8kF^h基于Simulink建立四旋翼E行器的悬停控制回路，实现E行器的悬停控制:建立GUI界面，能够输入参数并绘制运动轨迹；基于VRToolbox建立3D动画场景，能够模拟飞行器的运动轨迹。五、实验结果与分析1.Simulink仿真图如下图5-1所示:

图5-1Simulink仿真图实验让四旋翼飞行器可以停到给定的位置，并且实现悬停，即停到目标地方不动。运行Simulink程序之前，先要运行初始化的m文件。初始化输入，即期望位置为：xdes=12;ydes=15;zdes=-9;得到的四旋翼飞行器的x,y,z方向的位移曲线如下所示，图5-2为X,图5-3为y,图5-4为z：14 1 14 1 TOC\o"1-5"\h\z12 -I10 [ /、• : -I■\ •8 /•・・・： -I6 % [ -If •4 •/ : i -I2 J [ J -I0•・・・•••・・・・・・ ・••・•••・・・••・・•・・・・・・・・・・・•・gl 1 0 5 10 15图5・2x方向位移图5-3y方向位移0图5-4z方向位移分析与结论：从实验结果可以看到，四旋翼飞行器最后的稳定位移为：x=12,y=15,z=-9o与期望的输入相等，达到了控制悬停的目的。并且，可以看到仿真系统的动态性能比较好，很快并且准确地到达预定的位置。2.VR模块的结果如下图所示，图5-5为程序运行之前，图5-6为程序运行之后的VR显示结果：图5・5程序运行之前

图5-6程序运行之后分析与结论：1.中的Simulink仿真出的飞行器姿态的角度fai,theta,psi这三个屋与1或0合成矢最，然后给VR中的rotation属性，从而实现了VR中的飞行姿态的变化，x,y,z给VR屮的Translation从而改变VR中图形的位移，实现了可视化可以看到四旋翼E行器成功地挺到了要求的给定位置之后，实现了悬停，即停止不动。建立的GUI界面如下图5-7所示，通过在命令窗口输入guide命令，进行创建。

图5-7GUI界面其中包含有全部删除、使用默认值、开始三个按钮，功能如下：全部删除：删除部分录入的变量的值；便用默认值：将部分变量的值恢复为默认值；开始：开始进行仿真。右边的上下两个图分别是xyz轴分立响应曲线和空间运动轨迹曲线，程丿子运行后，会显示运行的结果。让结构和控制参数都采用默认参数后，设置E行点为：x=5,y=10,z=15点击开始，进行仿真，运行结果如下图5-8所示:

图5-8采用默认参数的GUI界而分析与结论：GUI界面的每一个按钮都有其对应的程仔，运行之后可以看到，飞行器成功悬停到指定的位置x=5,y=10,z=15,并且通过GUI界面，改变参数更加方便快捷，结果的显示也更加清晰明了。六、实验总结通过本次实验，有以下四点总结：熟悉Matlab软件的使用，m文件的编程技巧。学习了Matlab中虚拟现实技术VR的使用，并进行了简单的实践。3・学习了Matlab中GUI界而的建立与使用，并进行了简单的实践。在Matlab环境中对四旋翼飞行器进行系统建模，举握了四旋翼E行器的建模和控制方法、在Matlab下快速建立虚拟可视化环境的方法。七、程序代码%%%%%%%%%%%%%%%%%%%%%%1.初始化参数程序init.m%%%%%%%%%%%%%%%%%%%%%%%%%?>%%%%%%%%%%%desiredpositionxdes=12;

ydes=15;zdes=-9;%%%%%%%%%%%%%%%structuralparameters%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%savePIDkpx=0.8;kix=le-4;%%%%%%%%%%%%%%%%%%savePIDkpx=0.8;kix=le-4;kdx=1・3;savePIDkpy=0.8;kiy=3e-4;kdy=1.3;%%%%%%%%%%%%%%%%%%savePIDforx%%%%%%%%%%%%%%%%%%%%fory%%%%%%%%%%%%%%%%%%%%forz%%%%%%%%%%%%%%%%%%%%kpz=1・2;kiz=le-6;kdz=2;kpz=1・2;kiz=le-6;kdz=2;%%%%%%%%%%%%%%%%%%kpphi=2000;savePDforphi%%%%%%%%%%%%%%%%%%%kdphi=4000;savePDfortheta%%%%%%%%%%%%%%%%%kptheta=2000;kdtheta=4000;%%%%%%%%%%%%%%%%%%savePDforpsi%%%%%%%%%%%%%%%%%%%kppsi=800;kdpsi=4000;savetsim%%%%%%%%%%%%%%%%%%%%%%%%%%tsim=20;2.GUI程序functionvarargout=GUI_Config(varargin)m=0.5;g=9・8;Ixx=0.114;工yy=0.114;Izz=0.158;yaw=3/57.3;L=0.2;

gui_Singleton=1;gui_State=struct(fgui_Name1,mfilenamergui_Singletonfgui_Singleton=1;gui_State=struct(fgui_Name1,mfilenamergui_Singletonf9gui_Singletonrgui_OpeningFcnff@GUI_Config_OpeningFcnrgui_OutputFun'r@GUI_Config_OutputFcnr・gui_LayoutFcnf9gui_Callbackf,[])；ifnargin&&isuhaf(vaxairgirH1})gui_State.gui_Callback=strZfunc(varargin{1});endifnargout[varargout{1:nargout)]=gui_mainfcn(gui_State#vararginf:});elsegui_mainfcn(gui_Statervarargin{:});end%Endinitializationcode-DONOTEDIT% ExecutesjustbeforeGUI_Configismadevisible・functionGUI_Config_OpeningFcn(hObject,eventdata,handlesrvarargin)handles.output=hObject;%Updatehandlesstructureguidata(hObjectrhandles);set(handles・progresslabel/1String1r11z乙越仓X-AO®1);%UIWAITmakesGUI_Configwaitforuserresponse(seeUIRESUME)%uiwait(handles・figurel);% Outputsfromthisfunctionareireturnedtothecommandline・functionvarargout=GUI_Config_OutputFen(hObjectFeventdata,handles)varargout{1}=handles・output;functionm_value_Callback(hObjectreventdata,handles)functionm_value_CreateFcn(hObjecrt,eventdatarhandies)%hObjecthandletom_value(seeGCBO)%eventdatareserved一tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalledset(hObject/fString1,f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER・ifispc&&isequa丄(get(hObject，fBackgroundcolor1)9get(0,fdefaultUicontrolBackgroundColor1))set(hObjectr1Backgroundcolorff1white1);endfunctiong_value_Cal1back(hObjectreventdata，handles)functiong_value_CreateFcn(hObject,eventdatarhandies)%hObjecrthandletog_value(seeGCBO)%eventdatareserved一tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalledset(hObject/fString1zf1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER・ifispc&&isequaJL(get(hObject，fBackgroundColorf)9get(0,1defaultUicontrolBackgroundColor1))set(hObjectr1Backgroundcolorff1white1);endfunctionL_value_Cal1back(hObject,eventdata,handles)functionL_value_CreateFcn(hObjectreventdata,handles)%hObjecthandletoL_value(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handles empty-handlesnotcreateduntilafter*allCreateFcnscalledset(hObjectrfString1#T1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindo'ws.% SeeISPCandCOMPUTER.ifispc&&isequal(get(hObjectr1BackgroundCoior1),get(0,fdefaultUicontrolBackgroundCoior1))set(hObjectr1BackgroundCoiorfr'white');endfunctionIxx_value_Callback(hobjectzeventdatarhandies)functionIxx_value_CreateFun(hObjectreventdata,handles)%hObjecthandletoIxx_value(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalledset(hObjectr1String*,f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER・ifispc&&isequa丄(get(hObject,1BackgroundColorf)9get(0,1defaultUicontrolBackgroundCoiorT))set(hObjectr1Backgroundcolor1,1whitef);endfunctionIyy_value_Callback(hObject；eventdatarhandles)functionIyy_value_CreateFcn(hObject/evsntdata,handles)set(hObjectJString1#f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.SeeISPCandCOMPUTER.ifispc&&isequaJL(get(hObject，fBackgroundColorf)rget(0,fdefaultUicontrolBackgroundColorf))set(hObjectr1Backgroundcolor1,fwhite1);endfunctionIzz_value_Callback(hObjectzeventdata,handles)functionIzz_value_CreateFcn(hObjectrevsntdata,handles)set(hObject/fString・,f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.ifispc&&isequa丄(get(hObject,1Backgroundcolor1)9get(0,1defaultUicontrolBackgroundColorf))set(hObjectr1Backgroundcolor1,'whitef);end% ExecutesonbuttonpressinstructParamClear・functionstructParamClear_Callback(hObjectreventdata，handles)%hObjecthandletostructParamClear(seeGCBO)%eventdatareserved一tobedefinedinafutureversionofMATLAB%handles兮七匕ucrtuuQwithhandlesanduser七m(seeGUIDATA)set(handles・m_va丄ue,fString1r1f);set(handles・g_valueFfString1rff);set(handles・L_valueffString1f1f);set(handies・Ixx_valuer1String1r11);set(handles・Iyy_vaiuer1String1r11);set(handles・Izz_valuer1String1rff);% ExecutesonbuttonpressinstructParam_Default.functionstructParam_Default_Cal丄back(hObjectreventdata,handles)%hObjecthandletostructParam_DefauIt(seeGCBO)%eventdatareserved一tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)

set(handles・m_valuerfString1,f0・ )；set(handles・g_valuez1String1ff9.8T);set(handles・L_valuef1String1,f0.2T);set(handles・Ixx_valuer1String1，■0・114f);set(handles・工yy_va丄ue,▼String1,f0・1141);set(handies・Izz_valuer1String1,▼0・158f);set(handles・ptrogresslabe丄，1String1,f^a112IEyE1OAA->EI2IEyfunctionxt_vaiue_Cal丄back.(hObjecrtreventdata,handies)functionxt_value_CreateFcn(hObject,eventdata,handles)set(hObject/fString1rf1);%Hint:editcontrolsusuallyhaveawhitebackgroundon% SeeISPCandCOMPUTER・ifispc&&isequa丄(get(hObject,1Backgroundcolorf),get(0,fdefauitUicontrolBackgroundColor1))set(hObjectr1Backgroundcolor1/■white');endfunctionyt_value_Cailback(hObjecrtreventdatarhandles)functionyt_value_CreateFcn(hObject；eventdata,handles)set(hObject/fString1/f1);%Hint:editcontrolsusuallyhaveawhitebackgroundon% SeeISPCandCOMPUTER・ifispc&&isequai(get(hobjectrfBackgroundcolorf)rget(0,fdefauitUicontrolBackgroundColor1))set(hObjectr1Backgroundcolor1,fwhitef;Windows.Windows.endfunctionzt_value_Cai1back(hObjectreventdata,handles)Windows.Windows.set(hObjectset(hObjectrfBackgroundcolor1,▼white');get(0,get(0,1defaultUicontrolBackgroundColorf))functionNt_value_CreateFcn(hObject,eventdata,handles)set(hObject/fString1,f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.ifispc&&isequa丄(get(hObjectrfBackgroundCoior1)rget(0,fdefaultUicontrolBackgroundColor1))set(hObjectr*Backgroundcolor1,■white');end%ExecutesonbuttonpressinposParam_clear・functionposParam_clear_Callback(hObjecrtreventdatarhandles)%hObjecthandletoposParam_clear(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)set(handies・xt_valuezfString1zf1);set(handies・yt_vaiuezfString1#f1);set(handles・zt_value,fString1rf1);% ExecutesonbuttonpressinposParam_Default・functionposParam_Defau丄t_Callback(hObjectreventdata，handles)set(handles・xt_value#fString1,f4f);set(handles・yt_value/fString1；f5f);set(handles・Nt_vaJLue#fString1/f-10f);set(handles・pfogrress丄abe丄/1String1r11»OA2IEyE1OAA-»EI2IEy1);functionkpx_value_Callback(hObject,eventdata,handles)functionkpx_value_CreateEcrn(hObject/eventdata,handles)set(hObject/fString1#f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER・ifispc&&isequa丄(get(hObject,fBackgroundCoiorf)fset(hObjectF1Backgroundcolor1,■white');endfunctionkix_vaiue_Callback(hObjectzeventdata,handles)functionkix_value_CreateFcn(hObjectreventdata,handles)set(hObject/fString1,f1);ifispc&&isequa丄(get(hObjectrfBackgroundCoior1),get(0,fdefaultUicontrolBackgroundColor1))set(hObjectr1Backgroundcolor1ffwhitef);endfunctionkdx_value_Callback(hObject,eventdatarhandies)functionkdx_value_CreateFun(hObjectreventdata,handles)set(hObject/fString1,ff);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.ifispc&&isequa丄(get(hObject,1Backgroundcolorf),get(0,fdefau丄tUicontro1BackgroundCo1or1))兮et(hObjecrtr1Backgroundcolor1,1white1);endfunctionkpy_vaiue_Cailback(hobjectzeventdata,handles)functionkpy_value_CreateFcn(hObjectreventdata，handles)set(hObject/fString1,f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.ifispc&&isequa丄(get(hObjectrfBackgroundCoiorf)9get(0,1defauitUicontrolBackgroundCoiorf))set(hObjectset(hObjectrfBackgroundCoior1ffv?hitef);endfunctionkiy_value_Callback(hObjectzeventdatarhandles)functionkiy_vaiue_CreateFun(hObject,eventdata,handles)set(hObject/fString1；f1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER・ifispc&&isequal(get(hObjectrfBackgroundCoiorf,get(0,1defaultUicontrolBackgroundColor1))set(hObjectr1Backgroundcolor1,fwhitef;endfunctionkpz_value_Callback(hObjectzeventdatarhandles)functionkpz_value_CreateFen(hObjectreventdata,handles)ifispc&&isequa丄(get(hObjectrfBackgroundCoiorf),get(0rfdefaultUiuorrtrolBackgroundColor1))set(hObjecrt.1BackgroundCoior1,fwhite1);endfunctionkiz_value_Callback(hObject,everrtdata,handles)functionkiz_value_CreateEcrn(hObjectreventdata，handles)set(hObject/fString1#f1);ifispc&&isequa丄(get(hObject,1BackgroundCoior1),get(O’fdefau丄tUicontrolBackgroundColor1))endfunctionkdz_value_Callback(hObject,eventdata,handles)functionkdz_value_CreateFun(hObjectreventdata,handles)set(hObjectrfString1zf1);ifispc&&isequal(get(hObject,1BackgroundColorf)9get(0,fdefaultUicontrolBackgroundColorf))set(hObjectr1Backgroundcolorf,1v/hitef);endfunctionkpphi_value_Callback(hObjectreventdatarhandles)functionkpphi_value_CreateFen(hObject,eventdata,handles)set(hObjectrfString1zf1);ifispc&&isequai(get(hObject,1BackgroundCoiorf)fget(0,fdefaultUicontrolBackgroundColorf))弓et(hObjecrt.1Backgroundcolorf,fwhitef;endfunctionkdphi_value_Callback(hObjectreventdatarhandles)functionkdphi_value_CreateFcn(hObject,eventdatarhandles)set(hObject/fString1#f1);ifispc&&isequa丄(get(hObject,1Backgroundcolorf)rget(0,fdefau丄tUicontr*o丄EaczkgfoundCo丄of'))set(hObjectrfBackgroundcolor11■white');endfunctionkptheta_value_Callback(hObjectreventdata,handles)functionkptheta—Value—CireateFcn(hObjectreventdata,handles)set(hObjectrfString1fff);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.ifispc&&isequa丄(get(hObject,1Backgroundcolor1)rget(O’fdefauitUicontrolBackgroundCoior1))set(hObjectr*Backgroundcolor1tfwhite1);endfunctionkdtheta_value_Callback(hObjectreventdata,handles)functionkdtheta_value_CreateFcn(hObjectreventdatarhandles)%hObjecthandletokdtheta_value(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handiesnotcreateduntilafterallCreateFcnscalledset(hObjectrfString1zf1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER.ifispc&&isequa丄(get(hObject,■BacrkgiroundCo丄 ),get(0,1defaultUicontrolBackgroundCoiorf))set(hObjectr*Backgroundcolor11'white1);endfunctionkppsi_value_Callback(hObjectfeventdatarhandies)functionkppsi_value_CreateFun(hObject,eventdata,handles)set(hObject^fString1zf1);ifispc&&isequaJL(get(hObject，fBackgroundColorf)rget(0,1defaultUicontrolBackgroundCoior1))set(hObjectr1Backgroundcolor1f1white1);endfunctionkdpsi_value_Callback(hObjectreventdatarhandles)functionkdpsi_value_CreateFcn(hObject,eventdata,handles)set(hObject/fString1#11);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER・ifispc&&isequa丄(get(hObject,1BackgroundCoiorffget(0,fdefaultUicontrolBackgroundColorf))set(hObject.1Backgroundcolor1/fwhite1;endfunctionsimTime_value_Callback(hObjectreventdata，handles)functionsimTime_value_CreateFcn(hObjectreventdatarhandles)ifispc&&isequa丄(get(hObject,fBackgroundcolor1)rget(0，fdefau丄tUicontrolBackgroundColor1))set(hObjectr1Backgroundcolor1t'whiend% ExecutesonbuttonpressinctrlParam_clear・functionctriParam_clear_Callback(hObject,eventdata,handles)%hObjecrthandletoctrlParam_clear(seeGCBO)%eventdatareserved一tobedefinedinafutureversionofMATLAB%handlesstruetuirewithhandlesanduserdata(seeGUIDATA)set(handles・kpx_valuer1String1r11);set(handies・kix_valuer1String1r11);set(handles・kdx_vaiuer1String1r1f);%//set(handles・kpy_valuer1String1r1);set(handles・kiy_valuer1String1r1f);set(handles・kdy_valuerfString1r11);%//set(handles・kpz_valuer1String1r11);set(handles・kiz_valuer1String1r1f);set(handles・kdz_valuef1String1rff);%//set(handles・kpphi_valuezfString1,set(handles・kdphi_value/fString1,%//set(handles・kptheta_valuet1Stringset(handles・kdthe1Stringset(handles・kppsi_vaiuezfString1,set(handies・kdpsi_value,fString1/%//set(handles・simTime_valueffStringset(handles・progresslabel/fString% Executesonbuttonpressinf)；f)；ctrlParamDefault・functionCtrlParam_Default_Cailback(hObjectreventdatarhandies)%hObjecthandletoctrlParamDefault(seeGCBO)reserved一tobedefinedinafutureversionofMATLAB%handlesstruetuirewithhandlesanduserdata(seeGUIDATA)set(handles・kpx_valuer1String1r10.8f);set(handles・kix_valuer1String1/1ie-4f;set(handles・kdx_valuer1String1,f1・3');%//set(handles・kpy_valuer1String1910・8▼);set(handles・kiy_valuer1String1,13e-4f;set(handles・kdy_vaJLue,fString1111・ )；%//set(handles・kpz_vaiuer1String1911•二')；set(handles・kiz_value/fString1f1le-6f);set(handles・kdz_valuerfString1r12T);%//set(handles・kpphi_value/fString1/f2000f);set(handles・kdphi_valuerfString1/f40001);%//set(handles・kpthe丄ue,1String19f2000f);% % ExecutesonbuttonpressinstartSim.set(handles・kdtheta_value9fString1,14000f);%//set(handles・kppsi_va丄ue,▼String■/T800f);set(handles・kdpsi_value/fString1,f4000f;%//set(handles・simTime_valuerfString1r130f);%//set(handles・progresslabel,fString1,1i0OR2TEyEX6AA->EI2IEy1);% Executesduringobjectcreation,aftei:settingallproperties・functionkdy_vaiue_CreateFen(hObjectreventdata，handles)%hObjecthandletokdy_value(seeGCBO)%eventdatareserved一tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalledset(hObject/fString1# 1);%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows・% SeeISPCandCOMPUTER.ifispe&&isequaJ.(get(hObject#1BackgroundColorf)9get(0,fdefaultUicontrolBackgroundColorf))set(hObjectr1Backgroundcolor1ffwhite1);endfunctionkdy_value_Callback(hObject,eventdatarhandles)%hObjecthandletokdy_value(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject/fStiring.)returnscontentsofkdy_valueastext% str2doub丄e(get(hObject,1String1))returnscontentsofkdy_valueasadoublefunctionstartSim_Cal1back(hObjectreventdatarhandles)%hObjecthandletostartSim(seeGCBC)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%%%!%%%%%%%%%%%desiredposition%%%%%%%%%%%%%%%%%%%%%%xdes=str2num(get(handles・xt_va丄ue#TString1));ydes=s