controller_init.m

一个很棒的网络控制系统仿真软件

function controller_init

ttInitKernel(1, 0, 'prioFP'); % nbrOfInputs, nbrOfOutputs, FP

h = 0.010;
N = 100000;
Td = 0.035;
K = 1.5;

data.u = 0.0;
data.K = K; 
data.ad = Td/(N*h+Td);
data.bd = N*K*Td/(N*h+Td);
data.Dold = 0.0;
data.yold = 0.0;

% Controller task
ttCreateTask('pid_task', 0.006, 10, 'ctrlcode', data);

% Disturbing task
% ttCreatePeriodicTask('dummy', 0.0002, 0.007, 1, 'dummycode');

% Initialize network
ttCreateInterruptHandler('nw_handler', 1, 'msgRcvCtrl');
ttInitNetwork(4, 'nw_handler'); % I am node 4