使用S-function实现LPF（低通滤波器）

最新推荐文章于 2024-09-20 20:44:45 发布

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最新推荐文章于 2024-09-20 20:44:45 发布

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本文链接：https://blog.csdn.net/qq_44701116/article/details/142167112

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1.低通滤波器（LPF）

低通滤波器的传递函数为：

$G(s)=\frac{w_c}{s+w_c}$

同时我们可以从传递函数推导到状态空间，方便我们后面编写S-function。

然后我们将其离散化：

接下来我们开始编写S-function。

2.连续LPF的S-function编写

因为我们现在编写的连续LPF的S-function编写，所以我们需要先明确有几个连续变量、有几个输入、有几个输出，以及我们需要明确输出中是否包含输入，这样对我们后续编写S-function是有用的。

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  = 2;%因为我们的状态空间中只有两个状态变量
sizes.NumDiscStates  = 0;%我们是连续系统
sizes.NumOutputs     = 1;%通过状态方程，我们只有一个输出
sizes.NumInputs      = 1;%一个输出
sizes.DirFeedthrough = 1;%因为推导输出的时候发现输出包含了输入，所以这里需要填1
sizes.NumSampleTimes = 1;   % 这里默认即可

sys = simsizes(sizes);

%
% initialize the initial conditions
%
x0  = [0,0];%状态变量的初值

%
% str is always an empty matrix
%
str = [];

%
% initialize the array of sample times
%
ts  = [0 0];%第一个是Period周期，第二个是偏移量，因为我们首先仿真的连续的，所以这里默认不动。

% 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

上面就是将我们的初始化完成，接下来我们将让其随着时间变化：

之所以我们使用mdlDerivatives，是因为我们是连续系统，在连续的状态方程中可以看到是需要求导的，这里正好对应，因此我们这里使用该函数。为什么不适用mdlUpdate是因为我们这里是连续的，而不是离散的，如果是离散的话我们这里就需要使用mdlUpdate，这个函数接下来我们会使用的。

%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
sys(1)=(u-x(1))*2*pi*1;
sys(2)=0;

% end mdlDerivatives

然后再是输出：

因为我们在初始化的时候已经明确输出只有一个，所以这里sys=x(1)即可，如果你使用sys(1)的话会直接报错，报错的原因就是因为我们之前设置的输出为1.

%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys=x(1);

% end mdlOutputs

这里我直接贴出完整代码：

function [sys,x0,str,ts,simStateCompliance] = ContUserLPF(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  = 2;
sizes.NumDiscStates  = 0;
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  = [0,0];

%
% 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(1)=(u-x(1))*2*pi*1;
sys(2)=0;

% 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(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

这里我们需要注意一个地方：

这个S-function name必须和我们刚才编写S-function中函数对应上。

3.离散LPF的S-function编写

这里我们需要用到刚才离散的状态空间方程，然后我们还是需要明确有几个状态变量，有几个输出，有几个输入，输出中是否包含输入。我们还是按照初始化-更新-输出这样的顺序看。


%
%=============================================================================
% 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  = 2;
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  = [0,0];

%
% str is always an empty matrix
%
str = [];

%
% initialize the array of sample times
%
ts  = [1e-4 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

这个得自己去与连续的S-function对比一下，才能发现区别，其实改动的地方就两个：

sizes.NumContStates  = 0;
sizes.NumDiscStates  = 2;
sizes.NumOutputs     = 1;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   % at least one sample time is needed

ts  = [1e-4 0];

然后是更新：


%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
Ts=1e-4;
sys(1)=(1-Ts*2*pi*1)*x(1)+Ts*2*pi*1*u;
sys(2)=0;
% end mdlUpdate

最后我们看输出：

%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys=x(1);

% end mdlOutputs