前言:在实际应用中,通常会发现有些过程用普通的Simulink模块不容易搭建,而Matlab 是函数模块又只能描述静态的非线性函数,即只能描述 y = f(u)形式的非线性环节,不能描述动态的,即含有状态变量的系统模型,这时就需要S-函数格式来描述,可以像标准Simulink模块直接调用,非常灵活。不过S-函数有其固定的格式,且只能在Simulink环境下使用,下面就来探讨如何构建和使用S-函数。
一. matlab模板和说明
下面是Simulink提供的模板文件sfuntmp1.m,有详细的说明和注释,看的懂英文更好哦,需要写S-Functon函数时,可以直接拷贝修改。
function [sys,x0,str,ts,simStateCompliance] = sfuntmpl(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 = 0;
sizes.NumOutputs = 0;
sizes.NumInputs = 0;
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)
sys = [];
% 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
二. S-函数的几个概念:
1) 直接馈通
在编写S-函数时,初始化函数中需要对sizes.DirFeedthrough 进行设置,如果输出函数mdlOutputs或者对于变采样时间的mdlGetTimeOfNextVarHit是输入u的函数,则模块具有直接馈通的特性sizes.DirFeedthrough=1;否则为0。
2) 采样时间
仿真步长就是整个模型的基础采样时间,各个子系统或模块的采样时间,必须以这个步长为整数倍。
连续信号和离散信号对计算机而言其实都是采样而来的,只是采样时间不同,连续信号采样时间可认为趋于0且基于微分方程,离散信号采样时间比较长基于差分方程。离散信号当前状态由前一个时刻的状态决定,连续信号可以通过微分方程计算得到。如果要将连续信号离散化还要考虑下信号能否恢复的问题,即香农定理。
采样时间点的确定:下一个采样时间=(n*采样间隔)+ 偏移量,n表示当前的仿真步,从0开始。
对于连续采样时间,ts可以设置为[0 0],其中偏移量为0;
对于离散采样时间,ts假设为[0.25 0.1],表示在S-函数仿真开始后0.1s开始每隔0.25s运行一次,当然每个采样时刻都会调用mdlOutPuts和mdlUpdate函数;
对于变采样时间,即离散采样时间的两次采样时间间隔是可变的,每次仿真步开始时都需要用mdlGetTimeNextVarHit计算下一个采样时间的时刻值。ts可以设置为[-2 0]。
对于多个任务,每个任务都可以以不同的采样速率执行S-函数,假设任务A在仿真开始每隔0.25s执行一次,任务B在仿真后0.1s每隔1s执行一次,那么ts设置为[0.25 0.1;1.0 0.1],具体到S-函数的执行时间为[0 0.1 0.25 0.5 0.75 1.0 1.1…]。
如果用户想继承被连接模块的采样时间,ts只要设置为[-1 0]。
三. 模型实践
假设一个飞机推力和速度的关系(简化的模型),公式如下
:
速度
加速度
:
发动机推力
飞机质量 取 5
1. 建立feiji.m文件
function [sys,x0,str,ts,simStateCompliance] = feiji1(t,x,u,flag)
%FEIJI a S-Function Template
% Copyright by Terry0518, 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; %调入初始化模板
sizes.NumContStates = 1; %连续状态个数 只有一个推力
sizes.NumDiscStates = 0; %离散状态
sizes.NumOutputs = 2; %输出两个量 速度 和 加速度
sizes.NumInputs = 1; %输入信号 1个
sizes.DirFeedthrough = 0; %不直接输出到输出口
sizes.NumSampleTimes = 1; % at least one sample time is needed 单采样周期
sys = simsizes(sizes); %根据上面设置初始化参数
%
% initialize the initial conditions
%
x0 = 0;
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0]; %继承输入信号的采样周期
% 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 返回连续状态量的导数
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(~,x,u)
global ace;
ace = acce(x(1),5,u);
sys(1) = ace;
%sys(2) = x(2);
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(~,~,~)
% end mdlUpdate
function a = acce(s,m,u)
a = u - 0.05 * s * s;
a= a / m;
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
global ace;
sys(1) = x(1); %当前速度
sys(2) = ace; %当前加速度
% 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
2. 创建 simulink Model文件
3. 添加元件
3. 向s-function模块添加函数文件feiji.m
4. 运行仿真
黄线为速度,蓝线为加速度,红线为推力F
四. 结论
simulink 类似一个驱动引擎,定时回调s-function中的函数,我们只需要把关键的更新参数放到对应的位置上就行(个人理解,上面关键的是在mdlDerivatives中放置导数)。对应离散模型,需要在对应的 mdlUpdates函数中计算更新离散系统的状态变量。