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<P>我用一个S-Function来引用,并且在S-Function parameters里面注明引用的函数名是我已经写好的S函数 sfun:<BR><BR>function [sys,x0,str,ts]=sfun(t,x,u,flag,m0,m1,m2,j1,j2,l1,l2,l,f0,f1,f2,g0,g)<BR>switch flag<BR> case 0 %初始化<BR> [sys,x0,str,ts]=mdlInitializeSizes;<BR> case 1 %计算连续状态<BR> sys=mdlDerivatives(t,x,u,m0,m1,m2,j1,j2,l1,l2,l,f0,f1,f2,g0,g);<BR> case 2 %计算离散状态<BR> sys=mdlUpdate(t,x,u);<BR> case 3 %计算输出<BR> sys=mdlOutputs(t,x,u);<BR> case 4 %计算采样时间<BR> sys=mdlGetTimeOfNextVarHit(t,x,u);<BR> case 9 %结束时的动作<BR> sys=mdlTerminate(t,x,u);<BR> otherwise %flag错误<BR> error(['不正确的flag=',num2str(flag)]);<BR>end</P>
<P>function [sys,x0,str,ts]=mdlInitializeSizes()<BR> sizes=simsizes; %创建尺寸结构<BR> sizes.NumContStates = 6; %连续状态的个数为6<BR> sizes.NumDiscStates = 0; %离散状态的个数为0<BR> sizes.NumOutputs = 6; %输出个数为6<BR> sizes.NumInputs = 1; %输入个数为1<BR> sizes.DirFeedthrough= 0; %无直接反馈输入<BR> sizes.NumSampleTimes= 1; %至少需一个采样时间<BR> sys = simsizes(sizes);<BR> x0 = [1 0 0 0 0 0]; <BR> str = []; %系统保留<BR> ts = [0 0];%初始化采样时间数组<BR> <BR>function sys=mdlDerivatives((t,x,u,m0,m1,m2,j1,j2,l1,l2,l,f0,f1,f2,g0,g)<BR>%计算连续状态<BR> O=zeros(3);<BR> E=eye(3);<BR> MATR = [m0+m1+m2, (m1*l1+m2*l)*cos(x(2)), m2*l2*cos(x(3));<BR> (m1*l1+m2*l)*cos(x(2)), j1+m1*l1^2+m2*l^2, m2*l2*l*cos(x(3)-x(2));<BR> m2*l2*cos(x(3)), m2*l2*l*cos(x(3)-x(2)), j2+m2*l2^2];<BR> <BR> F=-[f0, -(m1*l1+m2*l)*sin(x(2))*x(5), -m2*l2*sin(x(2))*x(6);<BR> 0, f1+f2, -m2*l2*l*sin(x(3)-x(2))*x(6)-f2;<BR> 0, m2*l2*l*sin(x(3)-x(2))*x(6)-f2, f2];<BR> <BR> N=[0; (m1*l1+m2*l)*g*sin(x(2)); m2*l2*g*sin(x(3))];<BR> <BR> G=[0; 0; 0; g0; 0; 0];<BR> <BR> A=[0,E;O,MATR\F];<BR> <BR> N1=[zeros(3,1);N];<BR> <BR> sys = A*x+N1+G*u;<BR> <BR>function sys=mdlUpdate(t,x,u)<BR>%无离散状态<BR> sys = [];</P>
<P>function sys=mdlOutputs(t,x,u)<BR> sys = x;</P>
<P>function sys=mdlGetTimeOfNextVarHit(t,x,u)<BR> sampleTime = [];</P>
<P>function sys=mdlTerminate(t,x,u)<BR> sys = [];<BR><BR><BR><BR>参数是用一个subsystem赋的,<BR><BR>可是老是出错:<BR><BR>Error in S-function block 'untitled/二阶倒立摆系统/S-Function': S-Function 'sfun' does not exist<BR><BR>初学,嘿嘿,请各位高手帮帮忙!<BR></P> |