mysfunction_uicompare.m

控制电机程序

function [sys,x0,str,ts]=mySfunction_UiCompare(t,x,u,flag,Ucom,T_samp)
%说明：此PID对积分项做了限幅，并没有对输出作限幅
switch flag
    case 0
        [sys,x0,str,ts]=mdlInitializeSizes(T_samp);
    case 1
        sys=mdlDerivatives(t,x,u);
    case 2
        sys=mdlUpdate(t,x,u);
    case 3
        sys=mdlOutputs(t,x,u,Ucom);
    case 4
        sys=mdlGetTimeOfNextVarHit(t,x,u);
    case 9
        sys=mdlTerminate(t,x,u);
    otherwise
        error(['Unhandle flag =',num2str(flag)]);
end
%-------------------------------------------------------------------------------------------%
function [sys,x0,str,ts]=mdlInitializeSizes(T_samp)
sizes=simsizes;
sizes.NumContStates=0;
sizes.NumDiscStates=0;
sizes.NumOutputs   =1;
sizes.NumInputs    =1;
sizes.DirFeedthrough=1;
sizes.NumSampleTimes=1;
sys=simsizes(sizes);
x0=[];
str=[];
ts=[T_samp 0];
mydata.pre_out=0;
mydata.pre1_in=0;
mydata.pre2_in=0;
set_param(gcb,'UserData',mydata);
%-------------------------------------------------------------------------------------------%
function sys=mdlDerivatives(t,x,u)
sys=[];
%-------------------------------------------------------------------------------------------%
%说明：此处只对积分项做了限幅，并没有对输出作限幅
function sys=mdlUpdate(t,x,u)
sys=[];
%-------------------------------------------------------------------------------------------%
function sys=mdlOutputs(t,x,u,Ucom)
if u(1)-Ucom>0
    out=u(1)-Ucom;
else out=0;
end
sys=out;
%-------------------------------------------------------------------------------------------%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sys=[];
%-------------------------------------------------------------------------------------------%
function sys=mdlTerminate(t,x,u)
sys=[];