motorolx.c

书籍代码:遗传演算法原理与应用_活用MATLAB(Source Code)

/*
 * File : motorolx.c
 * Abstract:
 *       An example C-file S-function for linking PID System,
 *       output = digital_pid(en, xn)
 *
 * See simulink/src/sfuntmpl_doc.c
 *
 * Copyright 1990-2000 The MathWorks, Inc.
 * $Revision: 1.7 $
 * Written by Chou, Penchen, Aug. 23,2001
 * EE Dept., Da-Yeh University.
 * Execute mex flc_invp.c to get flc_invp.dll before Simulink simulation.
 */

#define S_FUNCTION_NAME  motorolx
#define S_FUNCTION_LEVEL 2

#include "simstruc.h"

/*================*
 * Build checking *
 *================*/
#if !defined(MATLAB_MEX_FILE)
/*
 * This file cannot be used directly with the Real-Time Workshop. However,
 * this S-function does work with the Real-Time Workshop via
 * the Target Language Compiler technology. See 
 * matlabroot/toolbox/simulink/blocks/tlc_c/timestwo.tlc   for the C version
 * matlabroot/toolbox/simulink/blocks/tlc_ada/timestwo.tlc for the Ada version
 */
# error This_file_can_be_used_only_during_simulation_inside_Simulink
#endif

double digital_pid(double, double);
#include<dos.h>
#include<math.h>
#include<stdio.h>
#include<stdlib.h>
#include<string.h>

#define MAX(i,j)  (i>=j)?i:j
#define MIN(i,j)  (i<=j)?i:j
/***************************************************************
**          ==> USER CAN MODIFY THE FOLLOWING:         *********
****************************************************************/
/* In order to save computational time the coefficients
   must be calculated in hand with formulae as
       Ts=488e-6;
       co_e=Kp+Ts*Ki;
       co_x=-0.5*Kd/Ts;
       co_i=Ts*Ki;                                    */
#define co_e  0.1624
#define co_x -1.0246
#define co_i  0.0024
#define OUT_min -10
#define OUT_max  10

/* Function: mdlInitializeSizes ==============================
 * Abstract:
 *   Setup sizes of the various vectors.
 */
static void mdlInitializeSizes(SimStruct *S)
{
    ssSetNumSFcnParams(S, 0);
    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
        return; /* Parameter mismatch will be reported by Simulink */
    }

    if (!ssSetNumInputPorts(S, 2)) return;         /* 2-input */
    ssSetInputPortWidth(S, 0, DYNAMICALLY_SIZED);
    ssSetInputPortDirectFeedThrough(S, 0, 1);
    ssSetInputPortWidth(S, 1, DYNAMICALLY_SIZED);
    ssSetInputPortDirectFeedThrough(S, 1, 1);

    if (!ssSetNumOutputPorts(S,1)) return;
    ssSetOutputPortWidth(S, 0, DYNAMICALLY_SIZED);

    ssSetNumSampleTimes(S, 1);

    /* Take care when specifying exception free code - see sfuntmpl_doc.c */
    ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE |
                 SS_OPTION_USE_TLC_WITH_ACCELERATOR);
}


/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    Specifiy that we inherit our sample time from the driving block.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, 0.0);
}


/* Function: mdlOutputs =======================================================
 * Abstract:
 *    y = digital_pid(u1,u2)
 */
static void mdlOutputs(SimStruct *S, int_T tid)
{
    int_T             i;
    InputRealPtrsType uPtrs1 = ssGetInputPortRealSignalPtrs(S,0); /* input #1 */
    InputRealPtrsType uPtrs2 = ssGetInputPortRealSignalPtrs(S,1); /* input #2 */
    real_T            *y    = ssGetOutputPortRealSignal(S,0);
    int_T             width = ssGetOutputPortWidth(S,0);

    for (i=0; i<width; i++) {
        /*
         * This example does not implement complex signal handling.
	 * To find out see an example about how to handle complex signal in
         * S-function, see sdotproduct.c for details.
         */
	*y++ = digital_pid(*uPtrs1[i], *uPtrs2[i]);
        
    }
}


/* Function: mdlTerminate =====================================================
 * Abstract:
 *    No termination needed, but we are required to have this routine.
 */
static void mdlTerminate(SimStruct *S)
{
}

#if defined(MATLAB_MEX_FILE)
#define MDL_RTW
/* Function: mdlRTW ===========================================================
 * Abstract:
 *	Since we've declared all are parameters as non-tunable, we need
 *	only provide this routine so that they aren't written to the model.rtw
 *	file. The values of the parameters are implicitly encoded in the
 *	sample times.
 */
static void mdlRTW(SimStruct *S)
{
}
#endif /* MDL_RTW */

#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif

/*****************************************************************
**                  FUNCTIONS DEFINITIONS                       **
****************************************************************/
double digital_pid(double en, double xn)
  {
    float In,Inm1=0,xnm1=0,xnm2=0, output;
    
    In=Inm1+co_i*en;
    output=co_e*en+1*Inm1+0*co_x*(xn-xnm2);
    output=MIN(output, OUT_max);    /* BOUNDED OUTPUT CHECK POINTS */
    output=MAX(output, OUT_min);

    /* Update variables */
    Inm1=In;
    xnm2=xnm1; xnm1=xn;
    return (output);
  }/************************************************************************
	   END of FUNCTIONS in this file.
*************************************************************************/