s-function简介和示例-程序员宅基地
技术标签： mcu
s-function
1，参数的含义
% 输入量
%t--当前时间
%x--状态向量
%u--输入向量
%flag--状态标志位（默认为0）
%输出量
%sys--一个通用的返回参数，返回值取决于flag的值。例如，flag=3，sys则包含了S-Function的输出
%x0--状态初始值
%str--默认为空，无需设置
%ts--采样时间，包含采样时间和偏移量
%simStateCompliance--附加变量
%case 0:调用mdlInitializeSizes函数，初始化函数，必须执行
%case 1:调用mdlDerivatives函数，连续状态的函数
%case 2:调用mdlUpdate对离散状态进行更新，更新到x(n+1)
%case 3:调用mdlOutputs函数，系统输出y
%case 4:调用mdlGetTimeOfNextVarHit函数，下一个采样时间
%case 9:调用mdlTerminate函数，函数终止
%
%其中size属性如下：
%sizes.NumContStates =0;%连续状态的数量
%sizes.NumDiscStates =0;%离散状态的数量
%sizes.NumOutputs = 0;%输出的数量
%sizes.NumInputs = 0;%输入的数量
%sizes.DirFreedthrough = 1;%输出y和输入u是否直通，如，y = 5u;
%sizes.NumSampleTimes = 1；%采样时间
%x0表示初始状态；ts表示采样时间；
%注意：
%ts的第一个数字表示采样时间，第二个数字表示偏移量；
%[0 0]--表示默认采样时间，默认为0.2秒采样一次
%[-1 0]--表示根据连接模块的采样频率进行采样，继承连接模块的采样时间
%
2，函数的含义
mdlInitializeSizes函数，初始化函数，必须执行
mdlDerivatives函数，连续状态的函数
mdlUpdate函数，对离散状态进行更新，更新到x(n+1)
mdlOutputs函数，系统输出y
mdlGetTimeOfNextVarHit函数，下一个采样时间
mdlTerminate函数，函数终止
3，运行的流程
4，示例
示例1
function [sys,x0,str,ts,simStateCompliance] = K_sin_sfunc(t,x,u,flag ,k)
%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:
% [SYS,X0,STR,TS,SIMSTATECOMPLIANCE] = SFUNC(T,X,U,FLAG,P1,...,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 [SIZES,X0,STR,TS] 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.
% 0 1, : Continuous, but fixed in minor step
% sample time.
% PERIOD OFFSET, : Discrete sample time where
% PERIOD > 0 & OFFSET < PERIOD.
% -2 0]; : Variable step discrete sample time
% where FLAG=4 is used to get time of
% next hit.
%
% There can be more than one sample time providing
% they are ordered such that they are monotonically
% increasing. Only the needed sample times should be
% specified in TS. When specifying more than one
% sample time, you must check for sample hits explicitly by
% seeing if
% abs(round((T-OFFSET)/PERIOD) - (T-OFFSET)/PERIOD)
% is within a specified tolerance, generally 1e-8. This
% tolerance is dependent upon your model's sampling times
% and simulation time.
%
% You can also specify that the sample time of the S-function
% is inherited from the driving block. For functions which
% change during minor steps, this is done by
% specifying SYS(7) = 1 and TS = [-1 0]. For functions which
% are held during minor steps, this is done by specifying
% SYS(7) = 1 and TS = [-1 1].
%
% SIMSTATECOMPLIANCE = Specifices how to handle this block when saving and
% restoring the complete simulation state of the
% model. The allowed values are: 'DefaultSimState',
% 'HasNoSimState' or 'DisallowSimState'. If this value
% is not speficified, then the block's compliance with
% simState feature is set to 'UknownSimState'.
% Copyright 1990-2010 The MathWorks, Inc.
%
% The following outlines the general structure of an S-function.
%
switch flag,
%%%%%%%%%%%%%%%%%%
% Initialization %
%%%%%%%%%%%%%%%%%%
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1,
sys=mdlDerivatives(t,x,u);
%%%%%%%%%%
% Update %
%%%%%%%%%%
case 2,
sys=mdlUpdate(t,x,u);
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3,
sys=mdlOutputs(t,x,u,k);
%%%%%%%%%%%%%%%%%%%%%%%
% GetTimeOfNextVarHit %
%%%%%%%%%%%%%%%%%%%%%%%
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
%%%%%%%%%%%%%
% Terminate %
%%%%%%%%%%%%%
case 9,
sys=mdlTerminate(t,x,u);
%%%%%%%%%%%%%%%%%%%%
% Unexpected flags %
%%%%%%%%%%%%%%%%%%%%
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates = 0; %不用求微分
sizes.NumDiscStates = 0; %不用求差分
sizes.NumOutputs = 1;
sizes.NumInputs = 1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = [];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
% Specify the block simStateCompliance. The allowed values are:
% 'UnknownSimState', < The default setting; warn and assume DefaultSimState
% 'DefaultSimState', < Same sim state as a built-in block
% 'HasNoSimState', < No sim state
% 'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
sys = [];
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
sys = [];
% end mdlUpdate
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u,k)
sys = k * u;
% end mdlOutputs
%
%=============================================================================
% mdlGetTimeOfNextVarHit
% Return the time of the next hit for this block. Note that the result is
% absolute time. Note that this function is only used when you specify a
% variable discrete-time sample time [-2 0] in the sample time array in
% mdlInitializeSizes.
%=============================================================================
%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1; % Example, set the next hit to be one second later.
sys = t + sampleTime;
% end mdlGetTimeOfNextVarHit
%
%=============================================================================
% mdlTerminate
% Perform any end of simulation tasks.
%=============================================================================
%
function sys=mdlTerminate(t,x,u)
sys = [];
% end mdlTerminate
simulink模型
示例2
function [sys,x0,str,ts,simStateCompliance] = delay_sfunc01(t,x,u,flag)
%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:
% [SYS,X0,STR,TS,SIMSTATECOMPLIANCE] = SFUNC(T,X,U,FLAG,P1,...,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 [SIZES,X0,STR,TS] 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.
% 0 1, : Continuous, but fixed in minor step
% sample time.
% PERIOD OFFSET, : Discrete sample time where
% PERIOD > 0 & OFFSET < PERIOD.
% -2 0]; : Variable step discrete sample time
% where FLAG=4 is used to get time of
% next hit.
%
% There can be more than one sample time providing
% they are ordered such that they are monotonically
% increasing. Only the needed sample times should be
% specified in TS. When specifying more than one
% sample time, you must check for sample hits explicitly by
% seeing if
% abs(round((T-OFFSET)/PERIOD) - (T-OFFSET)/PERIOD)
% is within a specified tolerance, generally 1e-8. This
% tolerance is dependent upon your model's sampling times
% and simulation time.
%
% You can also specify that the sample time of the S-function
% is inherited from the driving block. For functions which
% change during minor steps, this is done by
% specifying SYS(7) = 1 and TS = [-1 0]. For functions which
% are held during minor steps, this is done by specifying
% SYS(7) = 1 and TS = [-1 1].
%
% SIMSTATECOMPLIANCE = Specifices how to handle this block when saving and
% restoring the complete simulation state of the
% model. The allowed values are: 'DefaultSimState',
% 'HasNoSimState' or 'DisallowSimState'. If this value
% is not speficified, then the block's compliance with
% simState feature is set to 'UknownSimState'.
% Copyright 1990-2010 The MathWorks, Inc.
%
% The following outlines the general structure of an S-function.
%
switch flag,
%%%%%%%%%%%%%%%%%%
% Initialization %
%%%%%%%%%%%%%%%%%%
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1,
sys=mdlDerivatives(t,x,u);
%%%%%%%%%%
% Update %
%%%%%%%%%%
case 2,
sys=mdlUpdate(t,x,u);
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3,
sys=mdlOutputs(t,x,u);
%%%%%%%%%%%%%%%%%%%%%%%
% GetTimeOfNextVarHit %
%%%%%%%%%%%%%%%%%%%%%%%
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
%%%%%%%%%%%%%
% Terminate %
%%%%%%%%%%%%%
case 9,
sys=mdlTerminate(t,x,u);
%%%%%%%%%%%%%%%%%%%%
% Unexpected flags %
%%%%%%%%%%%%%%%%%%%%
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 1;
sizes.NumOutputs = 1;
sizes.NumInputs = 1;
sizes.DirFeedthrough = 0; %%x(n+1)=u(n); y(n)=x(n);
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = 0;
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0.5 0];
% Specify the block simStateCompliance. The allowed values are:
% 'UnknownSimState', < The default setting; warn and assume DefaultSimState
% 'DefaultSimState', < Same sim state as a built-in block
% 'HasNoSimState', < No sim state
% 'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
sys = [];
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
sys = u;
% end mdlUpdate
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys = x;
% end mdlOutputs
%
%=============================================================================
% mdlGetTimeOfNextVarHit
% Return the time of the next hit for this block. Note that the result is
% absolute time. Note that this function is only used when you specify a
% variable discrete-time sample time [-2 0] in the sample time array in
% mdlInitializeSizes.
%=============================================================================
%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1; % Example, set the next hit to be one second later.
sys = t + sampleTime;
% end mdlGetTimeOfNextVarHit
%
%=============================================================================
% mdlTerminate
% Perform any end of simulation tasks.
%=============================================================================
%
function sys=mdlTerminate(t,x,u)
sys = [];
% end mdlTerminate
示例3
function [sys,x0,str,ts,simStateCompliance] = integral_sfunc(t,x,u,flag)
%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:
% [SYS,X0,STR,TS,SIMSTATECOMPLIANCE] = SFUNC(T,X,U,FLAG,P1,...,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 [SIZES,X0,STR,TS] 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.
% 0 1, : Continuous, but fixed in minor step
% sample time.
% PERIOD OFFSET, : Discrete sample time where
% PERIOD > 0 & OFFSET < PERIOD.
% -2 0]; : Variable step discrete sample time
% where FLAG=4 is used to get time of
% next hit.
%
% There can be more than one sample time providing
% they are ordered such that they are monotonically
% increasing. Only the needed sample times should be
% specified in TS. When specifying more than one
% sample time, you must check for sample hits explicitly by
% seeing if
% abs(round((T-OFFSET)/PERIOD) - (T-OFFSET)/PERIOD)
% is within a specified tolerance, generally 1e-8. This
% tolerance is dependent upon your model's sampling times
% and simulation time.
%
% You can also specify that the sample time of the S-function
% is inherited from the driving block. For functions which
% change during minor steps, this is done by
% specifying SYS(7) = 1 and TS = [-1 0]. For functions which
% are held during minor steps, this is done by specifying
% SYS(7) = 1 and TS = [-1 1].
%
% SIMSTATECOMPLIANCE = Specifices how to handle this block when saving and
% restoring the complete simulation state of the
% model. The allowed values are: 'DefaultSimState',
% 'HasNoSimState' or 'DisallowSimState'. If this value
% is not speficified, then the block's compliance with
% simState feature is set to 'UknownSimState'.
% Copyright 1990-2010 The MathWorks, Inc.
%
% The following outlines the general structure of an S-function.
%
switch flag,
%%%%%%%%%%%%%%%%%%
% Initialization %
%%%%%%%%%%%%%%%%%%
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1,
sys=mdlDerivatives(t,x,u);
%%%%%%%%%%
% Update %
%%%%%%%%%%
case 2,
sys=mdlUpdate(t,x,u);
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3,
sys=mdlOutputs(t,x,u);
%%%%%%%%%%%%%%%%%%%%%%%
% GetTimeOfNextVarHit %
%%%%%%%%%%%%%%%%%%%%%%%
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
%%%%%%%%%%%%%
% Terminate %
%%%%%%%%%%%%%
case 9,
sys=mdlTerminate(t,x,u);
%%%%%%%%%%%%%%%%%%%%
% Unexpected flags %
%%%%%%%%%%%%%%%%%%%%
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates = 1;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 1;
sizes.NumInputs = 1;
sizes.DirFeedthrough = 0;% dx = u ; y= x;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = 0;
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
% Specify the block simStateCompliance. The allowed values are:
% 'UnknownSimState', < The default setting; warn and assume DefaultSimState
% 'DefaultSimState', < Same sim state as a built-in block
% 'HasNoSimState', < No sim state
% 'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
sys = u;
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
sys = [];
% end mdlUpdate
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys = x;
% end mdlOutputs
%
%=============================================================================
% mdlGetTimeOfNextVarHit
% Return the time of the next hit for this block. Note that the result is
% absolute time. Note that this function is only used when you specify a
% variable discrete-time sample time [-2 0] in the sample time array in
% mdlInitializeSizes.
%=============================================================================
%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1; % Example, set the next hit to be one second later.
sys = t + sampleTime;
% end mdlGetTimeOfNextVarHit
%
%=============================================================================
% mdlTerminate
% Perform any end of simulation tasks.
%=============================================================================
%
function sys=mdlTerminate(t,x,u)
sys = [];
% end mdlTerminate
示例4
% 输入量
%t--当前时间
%x--状态向量
%u--输入向量
%flag--状态标志位（默认为0）
%输出量
%sys--一个通用的返回参数，返回值取决于flag的值。例如，flag=3，sys则包含了S-Function的输出
%x0--状态初始值
%str--默认为空，无需设置
%ts--采样时间，包含采样时间和偏移量
%simStateCompliance--附加变量
%case 0:调用mdlInitializeSizes函数，初始化函数，必须执行
%case 1:调用mdlDerivatives函数，连续状态的函数
%case 2:对离散状态进行更新，更新到x(n+1)
%case 3:调用mdlOutputs函数，系统输出y
%case 4:调用mdlGetTimeOfNextVarHit函数，下一个采样时间
%case 9:调用mdlTerminate函数，函数终止
%
%其中size属性如下：
%sizes.NumContStates =0;%连续状态的数量
%sizes.NumDiscStates =0;%离散状态的数量
%sizes.NumOutputs = 0;%输出的数量
%sizes.NumInputs = 0;%输入的数量
%sizes.DirFreedthrough = 1;%输出y和输入u是否直通，如，y = 5u;
%sizes.NumSampleTimes = 1；%采样时间
%x0表示初始状态；ts表示采样时间；
%注意：
%ts的第一个数字表示采样时间，第二个数字表示偏移量；
%[0 0]--表示默认采样时间，默认为0.2秒采样一次
%[-1 0]--表示根据连接模块的采样频率进行采样，继承连接模块的采样时间
%
%运行流程：
%flag= 0:调用mdlInitializeSizes函数，初始化函数，必须执行
%flag= 1:调用mdlDerivatives函数，连续状态的函数
%flag= 2:调用mdlUpdate对离散状态进行更新，更新到x(n+1)
%flag= 3:调用mdlOutputs函数，系统输出y
%flag= 4:调用mdlGetTimeOfNextVarHit函数，下一个采样时间
%flag= 9:调用mdlTerminate函数，函数终止
% 0》4》3》判断是否连续，Y 》1》4》3》...》9
% 0》4》3》判断是否连续，N 》2》4》3》...》9
% |-《--------------------------------------------------------------------《-|
%初始化模块，flag=0-----》计算下一个采样时间，flag=4----》计算输出，flag=3-----》判断是否连续---是---》计算微分，flag=1------》-|--仿真结束，flag=9
% | |--------否---》更新离散状态，flag=2--》-|
% |-《--------------------------------------------------------------------《-|
%
%
function [sys,x0,str,ts,simStateCompliance] = test_sfunc01(t,x,u,flag,len,mass,height)
%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:
% [SYS,X0,STR,TS,SIMSTATECOMPLIANCE] = SFUNC(T,X,U,FLAG,P1,...,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 [SIZES,X0,STR,TS] 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.
% 0 1, : Continuous, but fixed in minor step
% sample time.
% PERIOD OFFSET, : Discrete sample time where
% PERIOD > 0 & OFFSET < PERIOD.
% -2 0]; : Variable step discrete sample time
% where FLAG=4 is used to get time of
% next hit.
%
% There can be more than one sample time providing
% they are ordered such that they are monotonically
% increasing. Only the needed sample times should be
% specified in TS. When specifying more than one
% sample time, you must check for sample hits explicitly by
% seeing if
% abs(round((T-OFFSET)/PERIOD) - (T-OFFSET)/PERIOD)
% is within a specified tolerance, generally 1e-8. This
% tolerance is dependent upon your model's sampling times
% and simulation time.
%
% You can also specify that the sample time of the S-function
% is inherited from the driving block. For functions which
% change during minor steps, this is done by
% specifying SYS(7) = 1 and TS = [-1 0]. For functions which
% are held during minor steps, this is done by specifying
% SYS(7) = 1 and TS = [-1 1].
%
% SIMSTATECOMPLIANCE = Specifices how to handle this block when saving and
% restoring the complete simulation state of the
% model. The allowed values are: 'DefaultSimState',
% 'HasNoSimState' or 'DisallowSimState'. If this value
% is not speficified, then the block's compliance with
% simState feature is set to 'UknownSimState'.
% Copyright 1990-2010 The MathWorks, Inc.
%
% The following outlines the general structure of an S-function.
%
k = 5;
a1 = 1;
a2 = 1;
g = 10;
switch flag,
%%%%%%%%%%%%%%%%%%
% Initialization %
%%%%%%%%%%%%%%%%%%
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes(len);
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1,
sys=mdlDerivatives(t,x,u,k,a1,a2,g,mass);
%%%%%%%%%%
% Update %
%%%%%%%%%%
case 2,
sys=mdlUpdate(t,x,u);
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3,
sys=mdlOutputs(t,x,u,height);
%%%%%%%%%%%%%%%%%%%%%%%
% GetTimeOfNextVarHit %
%%%%%%%%%%%%%%%%%%%%%%%
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
%%%%%%%%%%%%%
% Terminate %
%%%%%%%%%%%%%
case 9,
sys=mdlTerminate(t,x,u);
%%%%%%%%%%%%%%%%%%%%
% Unexpected flags %
%%%%%%%%%%%%%%%%%%%%
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes(len)
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates = 2;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 1;
sizes.NumInputs = 0;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = [-len 1];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
% Specify the block simStateCompliance. The allowed values are:
% 'UnknownSimState', < The default setting; warn and assume DefaultSimState
% 'DefaultSimState', < Same sim state as a built-in block
% 'HasNoSimState', < No sim state
% 'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u,k,a1,a2,g,mass)
if x(1) <0
b = 0;
else
b = -k*x(1);
end
x1_dot = x(2);
x2_dot = g + (1/mass)*(b*x(1) - a1*x(2) -a2*x(2)*abs(x(2)));
sys = [x1_dot;x2_dot];
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
sys = [];
% end mdlUpdate
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u,height)
sys = height - x(1);
% end mdlOutputs
%
%=============================================================================
% mdlGetTimeOfNextVarHit
% Return the time of the next hit for this block. Note that the result is
% absolute time. Note that this function is only used when you specify a
% variable discrete-time sample time [-2 0] in the sample time array in
% mdlInitializeSizes.
%=============================================================================
%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1; % Example, set the next hit to be one second later.
sys = t + sampleTime;
% end mdlGetTimeOfNextVarHit
%
%=============================================================================
% mdlTerminate
% Perform any end of simulation tasks.
%=============================================================================
%
function sys=mdlTerminate(t,x,u)
sys = [];
% end mdlTerminate
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
智能推荐
学好Python开发你一定会用到这30框架种(1)-程序员宅基地
文章浏览阅读635次，点赞18次，收藏26次。14、fabric是基于Python实现的SSH命令行工具，简化了SSH的应用程序部署及系统管理任务，它提供了系统基础的操作组件，可以实现本地或远程shell命令，包括命令执行，文件上传，下载及完整执行日志输出等功能。7、pycurl 是一个用C语言写的libcurl Python实现，功能强大，支持的协议有：FTP,HTTP,HTTPS,TELNET等，可以理解为Linux下curl命令功能的Python封装。Scipy是Python的科学计算库，对Numpy的功能进行了扩充，同时也有部分功能是重合的。
Ubuntu中anaconda图形化界面的使用_ubuntu安装anaconda后怎么运行图形化节目-程序员宅基地
文章浏览阅读4.9k次，点赞3次，收藏25次。看网上教程，跟着配置，然后装完anaconda之后，大家都继续安装pycharm，然后傻吊的以为Ubuntu下的anaconda是没有图形化界面的，只有win下面 装完anaconda之后，可以直接在jupyter下面写代码今天突然发现Ubuntu下anaconda也是有图像化界面的$ conda --version /* 查看版本 */$ conda create --name my_en..._ubuntu安装anaconda后怎么运行图形化节目
深度学习RNN-程序员宅基地
文章浏览阅读771次，点赞22次，收藏11次。只记得我在一个昏暗潮湿的地方喵喵地哭泣着。——夏目漱石《我是猫》到目前为止，我们看到的神经网络都是前馈型神经网络。（feedforward）是指网络的传播方向是单向的。具体地说，先将输入信号传给下一层（隐藏层），接收到信号的层也同样传给下一层，然后再传给下一层……像这样，信号仅在一个方向上传播。虽然前馈网络结构简单、易于理解，而且可以应用于许多任务中。不过，这种网络存在一个大问题，就是不能很好地处理时间序列数据（以下简称为“时序数据”）。
Rsync数据复制——本地数据传输_rsync本地拷贝-程序员宅基地
文章浏览阅读2.5k次。1本地数据传输类似cp的复制，实现文件，目录的增量复制。#语法模式rsync命令 参数 src源文件/目录 dest目标文件/目录1.本地文件复制# 复制hosts文件[root@chaogelinux ~]# rsync /etc/hosts /tmp/2.复制目录内容-r, --recursive 对子目录以递归模式处理# 复制/data下所有内容到/tmp[root@lb01 ~]# rsync -r /data/ /tmp/# 复制/data整个文件夹到/tmp_rsync本地拷贝
随机密码约瑟夫环_py约瑟夫环问题n,k,m要求由键盘输入值,每个人持有的密码随机生成。 2、每个函数完-程序员宅基地
文章浏览阅读1.4k次，点赞3次，收藏11次。约瑟夫环问题： 问题描述：设有编号为1，2，3……n的n个人顺时针方向围坐一圈，每人有一密码（正整数）。开始时给出一初始密码m，从编号为1的人开始报数，报m的人出列；以后将出列者的密码作为新的m，从顺时针方向紧挨着他的下一个人开始报数……直至所有人出列。试编算法，求出出列顺序。要求：用不带头结点的单向循环链表实现从键盘输入n，m各人的密码由计算机随机产生(1~10的正整数，也可以自定义_py约瑟夫环问题n,k,m要求由键盘输入值,每个人持有的密码随机生成。 2、每个函数完
[晓理紫]每日论文分享(有中文摘要，源码或项目地址)--强化学习、模仿学习、机器人_frenetix rl-程序员宅基地
文章浏览阅读1.7k次，点赞21次，收藏17次。这项研究介绍了一种自主运动规划的新方法，在Frenet坐标系内用强化学习（RL）代理通知分析算法。这种结合直接解决了自动驾驶中适应性和安全性的挑战。运动规划算法对于导航动态和复杂的场景至关重要。然而，传统方法缺乏不可预测环境所需的灵活性，而机器学习技术，特别是强化学习（RL），提供了适应性，但存在不稳定性和缺乏可解释性。我们独特的解决方案将传统运动规划算法的可预测性和稳定性与RL的动态适应性相结合，使系统能够有效地管理复杂的情况并适应不断变化的环境条件。_frenetix rl
随便推点
AHAS arms调用链查询中，接口实际耗时和监听耗时差异在什么地方？_arms调用链路耗时看不懂-程序员宅基地
文章浏览阅读109次。监听耗时仅代表了 AHAS ARMS Listener（即调用链收集器）在收集并处理当前请求的调用信息时所需要的时间。它不包括网络传输、处理请求、执行操作、处理响应等其他阶段的时间，仅代表 Listener 所需的时间。通常这个时间会很短，只有几毫秒甚至更短。接口实际耗时包括了整个请求/响应周期中的所有时间，包括网络传输、处理请求、执行操作、处理响应等阶段消耗的时间。它代表了该请求在客户端发起到最终服务器响应完成所花费的总时间。_arms调用链路耗时看不懂
常见的Web应用的漏洞总结（原理、危害、防御）_web 应用中常见的漏洞及其危害有哪些-程序员宅基地
文章浏览阅读2.5k次。一、 SQL注入1.原理：SQL注入就是把SQL命令插入到Web表单然后提交到所在页面请求（查询字符串），从而达到欺骗服务器执行恶意的SQL命令。它是利用现在已有的应用程序，将SQL语句插入到数据库中执行，执行一些并非按照设计者意图的SQL语句。2.原因：根据相关技术原理，SQL注入可以分为平台层注入和代码层注入。前者由不安全的数据库配置或数据库平台的漏洞所致；后者主要是由于程序员对输入..._web 应用中常见的漏洞及其危害有哪些
离散数学——命题逻辑_离散数学命题逻辑-程序员宅基地
离散数学中的命题逻辑，包括命题的表示和联结词的运用，推理理论和常用的证明方法，如真值表法和直接证明法。还介绍了附加前提证明法或CP规则。
Spring Expression Language（SpEL）-程序员宅基地
文章浏览阅读8.6k次。Spring Expression Language（SpEL）spring的一种表达式。用来动态的获取，值、对象等。 样式： #{ …} 使用既定的规则放置在花括号中。式中的规则得以运行，可以反馈结果。理论上可以返回任何类型。 说说两种方式去设置SpELAnnotation注解。@Value（）方便快捷。 你可以在里面方式任何符合SpEL规范的语句，并把它的返回值注..._spring expression language
ansible最大并发_通过这7种方法来最大程度地提高Ansible技能-程序员宅基地
文章浏览阅读1.7k次。ansible最大并发 Ansible是一种功能强大的无代理（但易于使用且轻巧）的自动化工具，自2012年推出以来一直稳步流行。这种流行在一定程度上是由于其简单性。 默认情况下，Ansible的最基本依赖项（Python和SSH）几乎在所有地方都可用，这使得Ansible可以轻松用于各种系统：服务器，工作站，Raspberry Pi，工业控制器，Linux容器，网络设备等。 Ansible可..._ansible 提升 高并发
Barcode Reader在45毫秒内实现条码识别-程序员宅基地
文章浏览阅读479次。应我的客户要求，需要找到一款可以在极短时间识别二维条码的软件以应对他们现在极其迅速的货品入库需求。正好听说过一款Dynamsoft Barcode Reader的开发包，根据其官网介绍最新版对条码检测速度比以前的版本快2倍以上。根据对Dynamsoft Barcode Reader8.8SDK包拆解，其中含了JavaScript Package /.NET Package /C/C++ Package /Python Package /Java Package /iOS Package /A..._barcode reader