%%%%%%%%%%%%%%%%%%%基于四元素和角速度的PID控制器的設計%%%%%%%%%%%%%%
function?[sysx0strtssimStateCompliance]?=?controller（txuflag）

switch?flag

?
??case?0
????[sysx0strtssimStateCompliance]=mdlInitializeSizes;


??case?3
????sys=mdlOutputs（txu）;

????
end


%
function?[sysx0strtssimStateCompliance]=mdlInitializeSizes


sizes?=?simsizes;

sizes.NumContStates??=?0;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?3;
sizes.NumInputs??????=?7;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;???%?at?least?one?sample?time?is?needed

sys?=?simsizes（sizes）;
x0??=?[];

str?=?[];


ts??=?[0?0];
simStateCompliance?=?‘UnknownSimState‘;


function?sys=mdlDerivatives（~~~）

sys?=?[];




function?sys=mdlOutputs（~~u）
qe0=u（1）;
qe1=u（2）;
qe2=u（3）;
qe3=u（4）;
qe=[qe1?qe2?qe3]‘;
we1=u（5）;
we2=u（6）;
we3=u（7）;
%%%%%%%%%%%%%%%%%%%自適應參數設置%%%%%%%%%%%%%%%%%
syms?t;?????????%%%%%%%%%%%%%%%%%%定義變量t
t=sqrt（qe‘*qe）;
lamda=exp（-t）;?
%%基本思想是：初始階段姿態誤差角度較大時，能夠實現快速機動至目標姿態附近，當接近目標時，又可以減小
%%運動速度，從而避免過大的超調，當到達控制目標后，又可以穩定在控制目標周圍，且具有一定的魯棒性
kp=（20*exp（5*t））.*[110.2425?220.113318?110.11];?????????????????????????
kd=10*（1-exp（-5/t））.*[600.7569?750.8386?660.8378];?
%?kp=[110.2425?220.113318?110.11];?
%?kd=[600.7569?750.8386?660.8378];?
ut（1）=kp（1）*qe1+kd（1）*we1;
ut（2）=kp（2）*qe2+kd（2）*we2;
ut（3）=kp（3）*qe3+kd（3）*we3;
sys（1）?=?ut（1）;
sys（2）?=?ut（2）;
sys（3）?=?ut（3）;

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

?????文件???????1549??2016-06-05?09:09??adaptive?PID?control\controller.m

?????文件???????2420??2016-06-05?09:08??adaptive?PID?control\fig.m

?????文件???????1029??2016-03-31?14:18??adaptive?PID?control\Initial.m

?????文件??????20485??2016-06-05?09:23??adaptive?PID?control\satellator.slx

?????目錄??????????0??2016-11-02?16:07??adaptive?PID?control

-----------?---------??----------?-----??----

????????????????25483????????????????????5