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//
// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) ????-2008 - INRIA
//
// This file is distributed under the same license as the Scilab package.
//
function P=initialize_display(xg,teta)
clf();a=gca();a.isoview="on";
drawlater();//f=gcf();
a.data_bounds=[-0.4 -0.2;0.4 0.3];
a.margins=zeros(1,4);
y1=0;lb=l;hc=0.05;lc=0.1;teta=.25;r=0.013
P=build_pendulum([xg,y1],[lc,hc,lb,teta,r])
xsegs([-0.4 0.4],[y1-2*r y1-2*r]);
drawnow();
endfunction
function [P]=dpnd()
//dpnd() scheme of experiment
//!
clf();
drawlater()
a=gca();
a.isoview="on";
f = gcf() ;
f.axes_size = [640,480];
a.data_bounds=[0 0;100 100];
a.margins(3:4)=[0 0.2];
xg=40;
y1=25;
lb=40;
hc=10;
lc=20;
teta=.25;
r=2.5;
P=build_pendulum([xg,y1],[lc,hc,lb,teta,r])
//the floor
xarrows([10 90],[y1-5 y1-5],0);
xstring(90,y1,"x")
// the force
yg=y1+hc/2,
x2=xg+lc/2;
xarrows([x2 x2+10],[yg yg],2);
xstring(x2+20,yg,"u (force)",0,0);
// the vertical
y2=y1+hc;
xsegs([xg xg],[y2 y2+lb]);e=gce();e.line_style=2;e.segs_color=-1;
// the angle teta
xstring(xg+lb*sin(teta)/2,y2+lb*cos(teta),"a",0,0);
e=gce();e.font_size=3;
//the differential equations
xstring(5,-9,["a'''' = (-sin(a)*cos(a)*(m/(m+M))*a''^2 + 2/(mb*l)*(sin(a)*m*g - qm*cos(a)*u))/d"
"x'''' = (u+m*(l/2)*(sin(a)a''^2-cos(a)*a''''))/(m+M);"
"m: weight of the pendulum"
"M: weight of the cart"
"l: length of the pendulum"])
drawnow()
endfunction
function P=build_pendulum(o,params)
xg=o(1)
y1=o(2)
lc=params(1) //width of the cart
hc=params(2) //height of the cart
lb=params(3) //length of the pendulum
teta=params(4) //angle of the pendulum
r=params(5) //radius of wires
y2=y1+hc;
x2=xg+lc/2;
x1=xg-lc/2;
//cart
xrect([xg-lc/2,y1+hc,lc,hc]);e1=gce();
xfarcs([x1+lc/10-r;y1;2*r;2*r;0;360*64],1);e2=gce();
xfarcs([x2-2*r+lc/10-r;y1;2*r;2*r;0;360*64],1);e3=gce();
//pendulum
xsegs([xg,xg+lb*sin(teta)],[y2,y2+lb*cos(teta)]),
e4=gce();e4.thickness=2;e4.segs_color=-1;
P=glue([e4 e3 e2 e1])
P.user_data=[xg,lb]
endfunction
function P=set_pendulum(P,x,theta)
p=P.user_data
xg=p(1);lb=p(2);
//translation
drawlater();
e=P.children(1);e.data(1)=e.data(1)+x-xg;
e=P.children(2).children;e.data(1)=e.data(1)+x-xg;
e=P.children(3).children;e.data(1)=e.data(1)+x-xg;
e=P.children(4);e.data(:,1)=e.data(:,1)+x-xg;
//change the pendulum angle
e.data(2,:)=e.data(1,:)+[lb*sin(theta) lb*cos(theta)];
P.user_data(1)=x
drawnow();
endfunction
function draw1()
f=gcf();f.figure_position=[10 10];show_window()
clf();
drawlater();
f.background=color("gray");
f.figure_size=[850,650];
y=y(:,1:70); n=size(y,2);
a1=gca();sca(a1);
a1.axes_bounds=[0 0 0.5 0.5];
a1.data_bounds=[1,min(y(1,:));n max(y(1,:))];
a1.margins(1)=0.2;
a1.axes_visible="on";
a1.x_label.text="time";
a1.y_label.text="position";
a1.box = "on";
p1=xpoly(1,y(1,1));p1=gce();
a2=newaxes();sca(a2);
a2.axes_bounds=[0.5,0,0.5,0.5];
a2.data_bounds=[1,min(y(2,:));n max(y(2,:))];
a2.margins(1)=0.2;
a2.axes_visible="on";
a2.x_label.text="time";
a2.y_label.text="theta";
a2.box = "on";
xpoly(1,y(2,1));;p2=gce();
a3=newaxes();
a3.axes_bounds= [0,0.5,1,0.5];
a3.isoview="on";
a3.data_bounds=[-0.4 -0.1;0.4 0.4];
a3.box = "on";
y1=0;lb=l;hc=0.05;lc=0.1;teta=100*y(2,1);r=0.013;xg=100*y(1,1);
sca(a3);
P=build_pendulum([xg,y1],[lc,hc,lb,teta,r])
xsegs([-0.4 0.4],[y1-2*r y1-2*r]);
drawnow()
for k=1:size(y,2)
drawlater();
xx=100*y(1,k);tt=100*y(2,k);
p1.data=[p1.data;k,y(1,k)];
p2.data=[p2.data;k,y(2,k)];
// contains draw now
P=set_pendulum(P,xx,tt);
end
endfunction
function draw2()
f=gcf();f.figure_position=[10 10];show_window()
clf();
drawlater()
f.figure_size=[850,650];
f.background=color("gray");
yd=yd(:,1:100); n=size(yd,2);
c = kr*yd(5:8,:) //control
theta = yd(3,:) //angle
thetaE= yd(7,:) // estimated angle
x = yd(1,:)
a1=gca();sca(a1);
a1.axes_bounds=[0 0 0.5 0.5];
a1.data_bounds=[min(t1),min(c);t1(n) max(c)];
a1.margins(1)=0.2;
a1.axes_visible="on";
a1.x_label.text="time";
a1.y_label.text="Control (u)";
a1.box = "on";
p1=xpoly(t1(1),c(1));p1=gce();
a2=newaxes();sca(a2);
a2.axes_bounds=[0.5,0,0.5,0.5];
a2.data_bounds=[t1(1),min([theta thetaE]);t1(n) max([theta thetaE])];
a2.margins(1)=0.2;
a2.axes_visible="on";
a2.x_label.text="time";
a2.y_label.text="theta";
a2.box = "on";
xpoly(t1(1),theta(1));p2=gce();
xpoly(t1(1),thetaE(1));p3=gce();p3.line_style=2;
a3=newaxes();
a3.axes_bounds= [0,0.5,1,0.5];
a3.isoview="on";
a3.data_bounds=[-0.4 -0.1;0.4 0.4];
a3.box = "on";
y1=0;lb=l;hc=0.05;lc=0.1;;r=0.013;
sca(a3);
P=build_pendulum([100*x(1),y1],[lc,hc,lb,100*theta(1),r])
xsegs([-0.4 0.4],[y1-2*r y1-2*r]);
drawnow()
for k=1:n
drawlater();
xx=x(k);tt=theta(k);
p1.data=[p1.data;t1(k),c(k)];
p2.data=[p2.data;t1(k),theta(k)];
p3.data=[p3.data;t1(k),thetaE(k)];
// contains draw now
P=set_pendulum(P,xx,tt);
end
endfunction
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