-
大小: 14KB文件类型: .zip金币: 2下载: 0 次发布日期: 2021-05-09
- 语言: Matlab
- 标签: simulink SimMechanics
资源简介
用simulink中的SimMechanics模块搭建两关节机械臂模型,并用S-function函数编写控制程序,采用的是计算力矩法跟踪参考信号。 (2012-09-19, matlab, 14KB, 4次).zip
代码片段和文件信息
function [sysx0strtssimStateCompliance] = sfuntmpl(txuflag)
%SFUNTMPL General MATLAB S-Function Template
% With MATLAB S-functions you can define you own ordinary differential
% equations (ODEs) discrete system equations and/or just about
% any type of algorithm to be used within a Simulink block diagram.
%
% The general form of an MATLAB S-function syntax is:
% [SYSX0STRTSSIMSTATECOMPLIANCE] = SFUNC(TXUFLAGP1...Pn)
%
% What is returned by SFUNC at a given point in time T depends on the
% value of the FLAG the current state vector X and the current
% input vector U.
%
% FLAG RESULT DEscriptION
% ----- ------ --------------------------------------------
% 0 [SIZESX0STRTS] Initialization return system sizes in SYS
% initial state in X0 state ordering strings
% in STR and sample times in TS.
% 1 DX Return continuous state derivatives in SYS.
% 2 DS Update discrete states SYS = X(n+1)
% 3 Y Return outputs in SYS.
% 4 TNEXT Return next time hit for variable step sample
% time in SYS.
% 5 Reserved for future (root finding).
% 9 [] Termination perform any cleanup SYS=[].
%
%
% The state vectors X and X0 consists of continuous states followed
% by discrete states.
%
% Optional parameters P1...Pn can be provided to the S-function and
% used during any FLAG operation.
%
% When SFUNC is called with FLAG = 0 the following information
% should be returned:
%
% SYS(1) = Number of continuous states.
% SYS(2) = Number of discrete states.
% SYS(3) = Number of outputs.
% SYS(4) = Number of inputs.
% Any of the first four elements in SYS can be specified
% as -1 indicating that they are dynamically sized. The
% actual length for all other flags will be equal to the
% length of the input U.
% SYS(5) = Reserved for root finding. Must be zero.
% SYS(6) = Direct feedthrough flag (1=yes 0=no). The s-function
% has direct feedthrough if U is used during the FLAG=3
% call. Setting this to 0 is akin to making a promise that
% U will not be used during FLAG=3. If you break the promise
% then unpredictable results will occur.
% SYS(7) = Number of sample times. This is the number of rows in TS.
%
%
% X0 = Initial state conditions or [] if no states.
%
% STR = State ordering strings which is generally specified as [].
%
% TS = An m-by-2 matrix containing the sample time
% (period offset) information. Where m = number of sample
% times. The ordering of the sample times must be:
%
% TS = [0 0 : Continuous sample time.
%
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 58048 2012-08-11 21:23 adocontrol.mdl
文件 9510 2012-08-10 14:35 ado.m
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