感觉s-function在功能上和在matlab function定义静态变量实现的功能是一样的。s-function连续系统的case1求导进行连续变量的更新和离散系统case2离散状态变量的更新用matlab function中定义静态变量应该也能实现。
不过s-function将整个流程规范化,而且将case1的求导或者积分封装成库函数,属于是简化了开发过程。
用连续case1,很容易实现积分环节。用output加静态变量可以实现微分环节。将连续函数离散化可以用离散s函数实现。s函数离散更新状态函数传出去的是状态变量的下一个状态。
c-script使用c语言编写的。
1 matlab function
matlab funtion定义静态变量:
persistent t1;
if isempty(t1)
t1=0;
end
2 s-function
对于连续系统来说,核心是case1求导数的函数,这个函数输出是表达式里的导数值,这个函数是对状态变量进行更新的。
对于离散系统,核心是case1的离散状态更新,这里是对离散状态变量进行更新的。
function [sys,x0,str,ts,simStateCompliance] = my_sfuntmpl(t,x,u,flag)%%函数名和文件名要一样,t是仿真时间;x是状态,是一个n维的列向量;u是输入,也是n维的列向量,u(1),u(2)...
%%flag是一个标志
%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;%%flag=0调用初始化函数
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1,
sys=mdlDerivatives(t,x,u);%%flag=1,进行导数,连续仿真状态变量是求导
%%%%%%%%%%
% Update %
%%%%%%%%%%
case 2,%%flag=2,是离散系统进行更新状态用的,离散状态对于状态变量是每个采样周期更新状态
sys=mdlUpdate(t,x,u);
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3,%%flag=3,进行输出的设置
sys=mdlOutputs(t,x,u);
%%%%%%%%%%%%%%%%%%%%%%%
% GetTimeOfNextVarHit %
%%%%%%%%%%%%%%%%%%%%%%%
case 4,%%flag=4,离散系统计算下一个采样时间点
sys=mdlGetTimeOfNextVarHit(t,x,u);
%%%%%%%%%%%%%
% Terminate %
%%%%%%%%%%%%%
case 9,%%模型的终止
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 %%该函数用来进行模型的初始化,是必须要用的
%
% 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;%%连续状态变量的数目
sizes.NumDiscStates = 0;%%离散状态变量的数目
sizes.NumOutputs = 0;%%输出的数目
sizes.NumInputs = 0;%%输入的数目
sizes.DirFeedthrough = 1;%%1表示有直接馈入,直接馈入指的是输出项目里面直接加减输入,即直接将输入加到输出上
sizes.NumSampleTimes = 1; % at least one sample time is needed %%
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = [];%%这是对状态变量进行初始化,有几个状态变量,方括号里就有几个初始值
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];%%第一个零代表采样时间,表示连续采样;第二个零表示偏移量。ts=[t1,t2],表示从t2开始,每隔t1采样一次
% 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)%%在下面
sys = [];%%括号里写该函数的输出值,即表达式里上面带点的导数的变量
% 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
下面是plecs的c-script搭建的离散pid