| envgui(t,x,u,flag,NoiseBlock,LoadDistBlock)
|
function [sys,x0,str,ts] = envgui(t,x,u,flag,NoiseBlock,LoadDistBlock)
%ENVGUI S-function for making a simple PID GUI.
%
% When the model autotunerPID.mdl is run, this S-function create a panel
% designed as a console from which controlling the simulation
% environment. For example a measurement noise or a step on the load
% disturbance can be included.
% The most interesting part of this interface is the one termed
% ``Comparative Analysis'' which include analysis tools for both time and
% frequency domain.
% The time domain analysis perform a comparison of the responses to a
% step on the set-point and on the load disturbance for a PID tuned with
% all the available methods.
% The frequency domain analysis reports the open loop Bode diagram of the
% control system together with the Bode diagram of the complementary
% sensitivity and the sensitivity function.
%
% Everything started looking at PENDAN, an S-function for making pendulum
% animation
%
% Author: William Spinelli (wspinell@elet.polimi.it)
% Copyright 2004 W.Spinelli
% $Revision: 1.0 $ $Date: 2004/02/27 12:00:00 $
% Plots every major integration step, but has no states of its own
switch flag,
% Initialization
case 0,
[sys,x0,str,ts] = mdlInitializeSizes(NoiseBlock,LoadDistBlock);
% Update
case 2,
sys = mdlUpdate(t,x,u);
% Unused flags
case { 1, 3, 4, 9 },
sys = [];
% DeleteBlock
case 'DeleteBlock',
LocalDeleteBlock
% DeleteFigure
case 'DeleteFigure',
LocalDeleteFigure
% Close
case 'Close',
LocalClose
% Noise
case 'Noise',
LocalNoise
% NoiseParam
case 'NoiseParam',
LocalNoiseParam
% Dist
case 'Dist',
LocalDist
% DistParam
case 'DistParam',
LocalDistParam
% StepPID
case 'StepPID',
LocalStepPID
% BodePID
case 'BodePID',
LocalBodePID
% Help
case 'Hlp',
LocalHlp
% Unexpected flags
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
% end envgui
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
function [sys,x0,str,ts] = mdlInitializeSizes(NoiseBlock,LoadDistBlock)
% initialize parameters (setpoint)
set_param(get_param([get_param(gcs,'Parent') '/' NoiseBlock],'Handle'),...
'Variance','0');
set_param(get_param([get_param(gcs,'Parent') '/' LoadDistBlock],'Handle'),...
'Value','0');
% set up S-function
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 0;
sizes.NumInputs = 0;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0 = [];
str = [];
ts = [0.1 0];
LocalEnvInit(NoiseBlock,LoadDistBlock);
% end mdlInitializeSizes
%=============================================================================
% mdlUpdate
% Update the Environment Control GUI animation.
%=============================================================================
function sys = mdlUpdate(t,x,u)
fig = get_param(gcbh,'UserData');
if ishandle(fig),
if strcmp(get(fig,'Visible'),'on'),
ud = get(fig,'UserData');
LocalEnvSets(t,ud,u);
end
end
sys = [];
% end mdlUpdate
%=============================================================================
% LocalDeleteBlock
% The animation block is being deleted, delete the associated figure.
%=============================================================================
function LocalDeleteBlock
fig = get_param(gcbh,'UserData');
if ishandle(fig),
delete(fig);
set_param(gcbh,'UserData',-1)
end
% end LocalDeleteBlock
%=============================================================================
% LocalClose
% The callback function for the animation window close button. Delete
% the animation figure window.
%=============================================================================
function LocalClose
delete(gcbf)
% end LocalClose
%=============================================================================
% LocalDeleteFigure
% The animation figure is being deleted, set the S-function UserData to -1.
%=============================================================================
function LocalDeleteFigure
ud = get(gcbf,'UserData');
set_param(ud.Block,'UserData',-1);
% end LocalDeleteFigure
%=============================================================================
% LocalNoise
% The callback function for the activation/deactivation of the measurement
% noise
%=============================================================================
function LocalNoise
ud = get(gcbf,'UserData');
if get(ud.Noise,'Value')
set_param(ud.NoiseBlock,'Variance',get(ud.NoiseVar,'String'));
else
set_param(ud.NoiseBlock,'Variance',num2str(0));
end
% end LocalNoise
%=============================================================================
% LocalNoiseParam
% The callback function for setting of noise variance
%=============================================================================
function LocalNoiseParam
ud = get(gcbf,'UserData');
if get(ud.Noise,'Value')
set_param(ud.NoiseBlock,'Variance',get(ud.NoiseVar,'String'));
end
% end LocalNoiseParam
%=============================================================================
% LocalDist
% The callback function for the activation/deactivation of load disturbance
%=============================================================================
function LocalDist
ud = get(gcbf,'UserData');
if get(ud.LoadDist,'Value')
set_param(ud.LoadDistBlock,'Value',get(ud.LoadAmp,'String'));
else
set_param(ud.LoadDistBlock,'Value',num2str(0));
end
% end LocalDist
%=============================================================================
% LocalDistParam
% The callback function for setting the load diturbance amplitude
%=============================================================================
function LocalDistParam
ud = get(gcbf,'UserData');
if get(ud.LoadDist,'Value')
set_param(ud.LoadDistBlock,'Value',get(ud.LoadAmp,'String'));
end
% end LocalDistParam
%=============================================================================
% LocalStepPID
% The callback function for comparing step response with different
% autotuning method
%=============================================================================
function LocalStepPID
global MODELRUNNING
if ~MODELRUNNING
try
num = str2num(get_param('autotunerPID/Plant/Transfer Fcn','Numerator'));
den = str2num(get_param('autotunerPID/Plant/Transfer Fcn','Denominator'));
tau = str2num(get_param('autotunerPID/Plant/Transport Delay','DelayTime'));
catch
msgbox('The step response can be computed only for linear models',...
'AutotunerPID','error');
return
end
stepPIDcompare(num,den,tau);
else
msgbox('The simulation must be STOPPED to perform the Comparative Analysis',...
'AutotunerPID','warn');
end
% end LocalStepPID
%=============================================================================
% LocalBodePID
% The callback function for comparing Bode diagram with different
% autotuning method
%=============================================================================
function LocalBodePID
global MODELRUNNING
if ~MODELRUNNING
try
num = str2num(get_param('autotunerPID/Plant/Transfer Fcn','Numerator'));
den = str2num(get_param('autotunerPID/Plant/Transfer Fcn','Denominator'));
tau = str2num(get_param('autotunerPID/Plant/Transport Delay','DelayTime'));
catch
msgbox('The Bode diagrams can be computed only for linear models',...
'AutotunerPID','error');
return
end
bodePIDcompare(num,den,tau);
else
msgbox('The simulation must be STOPPED to perform the Comparative Analysis',...
'AutotunerPID','warn');
end
% end LocalBodePID
%=============================================================================
% LocalHlp
% The callback function for Help
%=============================================================================
function LocalHlp
web([strrep(which('envgui'),'envgui.m','') 'help/index_doc.html'],'-browser')
% end LocalHlp
%=============================================================================
% LocalEnvSets
% Local function to set the position of the graphics objects in the Env GUI
% animation window.
%=============================================================================
function LocalEnvSets(time,ud,u)
global AUTOTUNE
global ENVINACTIVE
if AUTOTUNE
set(ud.Noise,'Enable','off');
set(ud.NoiseVar,'Enable','off');
set(ud.LoadDist,'Enable','off');
set(ud.LoadAmp,'Enable','off');
ENVINACTIVE = 1;
elseif ~AUTOTUNE & ENVINACTIVE
% Autotuning process completed (update parameters and set the GUI
% active)
set(ud.Noise,'Enable','on');
set(ud.NoiseVar,'Enable','on');
set(ud.LoadDist,'Enable','on');
set(ud.LoadAmp,'Enable','on');
ENVINACTIVE = 0;
end
% Force plot to be drawn
pause(0), drawnow
% end LocalEnvSets
%=============================================================================
% LocalEnvInit
% Local function to initialize the Env GUI animation. If the animation
% window already exists, it is brought to the front. Otherwise, a new
% figure window is created.
%=============================================================================
function LocalEnvInit(NoiseBlock,LoadDistBlock)
% The name of the reference is derived from the name of the
% subsystem block that owns the GUI S-function block.
% This subsystem is the current system and is assumed to be the same
% layer at which the reference block resides.
sys = get_param(gcs,'Parent');
global AUTOTUNE
global AUTOMAN
global INACTIVE
% The animation figure handle is stored in the GUI block's UserData.
% If it exists, initialize all the fields
Fig = get_param(gcbh,'UserData');
if ishandle(Fig),
FigUD = get(Fig,'UserData');
set(FigUD.Noise,...
'Value',0,...
'Enable','on');
set(FigUD.NoiseVar,...
'String','0.0001',...
'Enable','on');
set(FigUD.LoadDist,...
'Value',0,...
'Enable','on');
set(FigUD.LoadAmp,...
'String','1',...
'Enable','on');
% bring it to the front
figure(Fig);
return
end
% the animation figure doesn't exist, create a new one and store its
% handle in the animation block's UserData
FigureName = 'Environment Panel';
% Figure
FigH = 150; % figure height
FigW = 272; % figure width
Fig = figure(...
'Units', 'pixel',...
'Position', [100 300-FigH FigW FigH],...
'Name', FigureName,...
'NumberTitle', 'off',...
'IntegerHandle', 'off',...
'HandleVisibility', 'callback',...
'MenuBar', 'none',...
'Resize', 'off',...
'DoubleBuffer', 'on',...
'DeleteFcn', 'envgui([],[],[],''DeleteFigure'')',...
'CloseRequestFcn', 'envgui([],[],[],''Close'');');
% operating condition
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [12 FigH-19 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'Backgroundcolor', [0.8 0.8 0.8],...
'String', 'Operating Conditions');
uicontrol(...
'Parent', Fig,...
'Style', 'frame',...
'Units', 'pixel',...
'Position', [12 FigH-64 248 44]);
Noise = uicontrol(...
'Parent', Fig,...
'Style', 'checkbox',...
'Position', [16 FigH-42 140 18],...
'String', 'Measurement noise',...
'Fontweight', 'bold',...
'Value', 0,...
'Callback', 'envgui([],[],[],''Noise'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [156 FigH-40 40 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'var. ');
NoiseVar = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [196 FigH-42 60 18], ...
'HorizontalAlignment','center',...
'String', '0.0001',...
'Backgroundcolor', [1 1 1],...
'Callback', 'envgui([],[],[],''NoiseParam'');');
LoadDist = uicontrol(...
'Parent', Fig,...
'Style', 'checkbox',...
'Position', [16 FigH-62 150 18],...
'String', 'Load disturbance',...
'Fontweight', 'bold',...
'Value', 0,...
'Callback', 'envgui([],[],[],''Dist'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [166 FigH-60 30 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'amp. ');
LoadAmp = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [196 FigH-60 60 18], ...
'HorizontalAlignment','center',...
'String', '1',...
'Backgroundcolor', [1 1 1],...
'Callback', 'envgui([],[],[],''DistParam'');');
% compact analysis
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [12 FigH-88 240 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'FontSize', 8,...
'Backgroundcolor', [0.8 0.8 0.8],...
'String', 'Comparative Analysis');
uicontrol(...
'Parent', Fig,...
'Style', 'frame',...
'Units', 'pixel',...
'Position', [12 FigH-118 248 28]);
uicontrol(...
'Parent', Fig,...
'Style', 'pushbutton',...
'Position', [22 FigH-114 72 20],...
'String', 'Time', ...
'Fontweight', 'bold',...
'Callback', 'envgui([],[],[],''StepPID'');');
uicontrol(...
'Parent', Fig,...
'Style', 'pushbutton',...
'Position', [176 FigH-114 72 20],...
'String', 'Frequency', ...
'Fontweight', 'bold',...
'Callback', 'envgui([],[],[],''BodePID'');');
% help button
uicontrol(...
'Parent', Fig,...
'Style', 'pushbutton',...
'Position', [100 FigH-145 72 20],...
'String', 'Help', ...
'Fontweight', 'bold',...
'Callback', 'envgui([],[],[],''Hlp'');');
% all the HG objects are created, store them into the Figure's UserData
% operating conditions
FigUD.Noise = Noise;
FigUD.NoiseVar = NoiseVar;
FigUD.LoadDist = LoadDist;
FigUD.LoadAmp = LoadAmp;
% Simulink Block Interaction
FigUD.Block = get_param(gcbh,'Handle');
FigUD.NoiseBlock = get_param([sys '/' NoiseBlock],'Handle');
FigUD.LoadDistBlock= get_param([sys '/' LoadDistBlock],'Handle');
set(Fig,'UserData',FigUD);
drawnow
% store the figure handle in the animation block's UserData
set_param(gcbh,'UserData',Fig);
% end LocalEnvInit |
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