three_init.m

一些基于matlab/simulink的模型

function three_init

ttInitKernel(4, 3, 'prioFP'); % nbrOfInputs, nbrOfOutputs, FP

period = [0.08 0.04 0.03];
prio = [6 7 8];
rChan = 1;
yChan = [2 3 4];
uChan = [1 2 3];

% Create three tasks with different periods and priorities

data1.pid = newpid(4.90, 0.0, 0.127, 10.0, period(1), 0);
data1.rChan = rChan;
data1.yChan = yChan(1);
data1.uChan = uChan(1);

ttCreatePeriodicTask('Regul1', period(1), prio(1), 'regulcode', data1);

data2.pid = newpid(8.50, 0.0, 0.064, 10.0, period(2), 0);
data2.rChan = rChan;
data2.yChan = yChan(2);
data2.uChan = uChan(2);

ttCreatePeriodicTask('Regul2', period(2), prio(2), 'regulcode', data2);

data3.pid = newpid(12.0, 0.0, 0.043, 10.0, period(3), 0);
data3.rChan = rChan;
data3.yChan = yChan(3);
data3.uChan = uChan(3);

ttCreatePeriodicTask('Regul3', period(3), prio(3), 'regulcode', data3);