MATLAB/Simulink S-function学习心得

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最新推荐文章于 2023-12-15 14:00:03 发布

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最近在学习自动驾驶仿真，其中组合导航单元需要使用串口通信，要将数据信息进行处理，使用到了s-function模块，下面说一下在学习过程中的一些心得体会。

MALAB版本：2017b

1.S-function简介

Library：User-Defined Functions

block：S-Function

官方帮助文档介绍：The S-Function block provides access to S-functions from a block diagram. The S-function named as the S-function name parameter can be a Level-1 MATLAB® or a Level-1 or Level-2 C MEX S-function (see S-Function Basics for information on how to create S-functions).

直白点说，s函数是系统函数（System Function）的简称，是指采用一种程序设计语言（C、C++或FORTRAN等语言）描述的一个功能模块。

2.程序编辑

在simulink中创建一个s-function模块，双击后点击Edit，进行程序编辑，如下图：

程序解释：

/*
 * sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function.
 *
 * Copyright 1990-2013 The MathWorks, Inc.
 */


/*
 * You must specify the S_FUNCTION_NAME as the name of your S-function
 * (i.e. replace sfuntmpl_basic with the name of your S-function).
 */

#define S_FUNCTION_NAME  test112  //这里把文件名sfuntmpl_basic修改为test112
#define S_FUNCTION_LEVEL 2

/*
 * Need to include simstruc.h for the definition of the SimStruct and
 * its associated macro definitions.
 */
#include "simstruc.h"   //程序里面要用到的头文件在这里引用，如“math.h”等。
//#include "math.h"



/* Error handling
 * --------------
 *
 * You should use the following technique to report errors encountered within
 * an S-function:
 *
 *       ssSetErrorStatus(S,"Error encountered due to ...");
 *       return;
 *
 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
 * It cannot be a local variable. For example the following will cause
 * unpredictable errors:
 *
 *      mdlOutputs()
 *      {
 *         char msg[256];         {ILLEGAL: to fix use "static char msg[256];"}
 *         sprintf(msg,"Error due to %s", string);
 *         ssSetErrorStatus(S,msg);
 *         return;
 *      }
 *
 */

/*====================*
 * S-function methods *
 *====================*/

/* Function: mdlInitializeSizes ===============================================
 * Abstract:
 *    The sizes information is used by Simulink to determine the S-function
 *    block's characteristics (number of inputs, outputs, states, etc.).
 */
static void mdlInitializeSizes(SimStruct *S)         //设置输入、输出和参数
{
    ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */      // 不含用户参数，设置为零。不是指参数的个数，是指用户参数的个数
    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
        /* Return if number of expected != number of actual parameters */
        return;
    }

    ssSetNumContStates(S, 0);   //设置连续状态的个数；
    ssSetNumDiscStates(S, 0);   //设置离散状态的个数；

    if (!ssSetNumInputPorts(S, 1)) return;  //设置输入变量的个数，这里为1,（将两个参数用mux合成，就成为1个二维的参数）
    ssSetInputPortWidth(S, 0, 2);   //设置输入变量0的维数为2
    ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/
    
    /*
     * Set direct feedthrough flag (1=yes, 0=no).
     * A port has direct feedthrough if the input is used in either
     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.
     */
    ssSetInputPortDirectFeedThrough(S, 0, 1);

    if (!ssSetNumOutputPorts(S, 1)) return;//设置输出变量的个数1个
    ssSetOutputPortWidth(S, 0, 2);//设置输出变量0的维数为2维

    ssSetNumSampleTimes(S, 1);  //设置采样时间
    ssSetNumRWork(S, 0);
    ssSetNumIWork(S, 0);
    ssSetNumPWork(S, 0);
    ssSetNumModes(S, 0);
    ssSetNumNonsampledZCs(S, 0);

    /* Specify the sim state compliance to be same as a built-in block */
    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);

    ssSetOptions(S, 0);
}



/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    This function is used to specify the sample time(s) for your
 *    S-function. You must register the same number of sample times as
 *    specified in ssSetNumSampleTimes.
 */
static void mdlInitializeSampleTimes(SimStruct *S)  //暂时不管
{
    ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, 0.0);

}



#define MDL_INITIALIZE_CONDITIONS   /* Change to #undef to remove function */
#if defined(MDL_INITIALIZE_CONDITIONS)
  /* Function: mdlInitializeConditions ========================================
   * Abstract:
   *    In this function, you should initialize the continuous and discrete
   *    states for your S-function block.  The initial states are placed
   *    in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
   *    You can also perform any other initialization activities that your
   *    S-function may require. Note, this routine will be called at the
   *    start of simulation and if it is present in an enabled subsystem
   *    configured to reset states, it will be call when the enabled subsystem
   *    restarts execution to reset the states.
   */
  static void mdlInitializeConditions(SimStruct *S)     //暂时不管
  {
  }
#endif /* MDL_INITIALIZE_CONDITIONS */



#define MDL_START  /* Change to #undef to remove function */
#if defined(MDL_START) 
  /* Function: mdlStart =======================================================
   * Abstract:
   *    This function is called once at start of model execution. If you
   *    have states that should be initialized once, this is the place
   *    to do it.
   */
  static void mdlStart(SimStruct *S)    //暂时不管
  {
  }
#endif /*  MDL_START */



/* Function: mdlOutputs =======================================================
 * Abstract:
 *    In this function, you compute the outputs of your S-function
 *    block.
 */
static void mdlOutputs(SimStruct *S, int_T tid)     //这里填入相关的算法
{
    const real_T *u = (const real_T*) ssGetInputPortSignal(S,0);        //从哪个端口获取信号
    real_T       *y = ssGetOutputPortSignal(S,0);        //将信号输出到哪个端口
    y[0] = u[0]*2;
    y[1] = u[1]*3;
}



#define MDL_UPDATE  /* Change to #undef to remove function */
#if defined(MDL_UPDATE)
  /* Function: mdlUpdate ======================================================
   * Abstract:
   *    This function is called once for every major integration time step.
   *    Discrete states are typically updated here, but this function is useful
   *    for performing any tasks that should only take place once per
   *    integration step.
   */
  static void mdlUpdate(SimStruct *S, int_T tid)
  {
  }
#endif /* MDL_UPDATE */



#define MDL_DERIVATIVES  /* Change to #undef to remove function */
#if defined(MDL_DERIVATIVES)
  /* Function: mdlDerivatives =================================================
   * Abstract:
   *    In this function, you compute the S-function block's derivatives.
   *    The derivatives are placed in the derivative vector, ssGetdX(S).
   */
  static void mdlDerivatives(SimStruct *S)
  {
  }
#endif /* MDL_DERIVATIVES */



/* Function: mdlTerminate =====================================================
 * Abstract:
 *    In this function, you should perform any actions that are necessary
 *    at the termination of a simulation.  For example, if memory was
 *    allocated in mdlStart, this is the place to free it.
 */
static void mdlTerminate(SimStruct *S)
{
}


/*=============================*
 * Required S-function trailer *
 *=============================*/

#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif

程序编辑完成以后在MATLAB命令行窗口输入：mex test112.c对文件进行编译。

3.小程序试验

设置s-function

设置s-function1

运行结果（scope1）

4.误区

特别要注意的是：

ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */      // 不含用户参数，设置为零。不是指参数的个数，是指用户参数的个数

此处官方给出的注释是/* Number of expected parameters */，正确的理解应该为设置的用户参数的个数，我这里理解为外部参数，如理解有误，还请指正。

一开始将此处理解为输入参数个数，在上面的程序中设置了x0，x1两个参数，则此处我设置为ssSetNumSFcnParams(S, 2);在设置s-function模块时会报错，如下图：

For S-function 'test112', the number of defined parameters, 2, does not match the number of parameters on the dialog of 's_function_modle111/S-Function1', 0. These two values must be identical.