zeigerclass.mbe

带反馈控制的半车Matlab模型

""

StateSpaceOdss named: ZeigerClass.
  parameter: #(ueberhoehung) on: ScalarOdss default: -10.0;
  input:     #(posVorne)     on: VectorOdss size: 3 unit: 'm';
             #(posHinten)    on: VectorOdss size: 3 unit: 'm';
             #(posGelenk)    on: VectorOdss size: 3 unit: 'm';
  output:    #(divWinkel)    on: ScalarOdss;
             #(pos)          on: VectorOdss size: 3;
             #(ori)          on: VectorOdss size: 4;



  auxiliar:  #(div)     on: ScalarOdss;
             #(zeigerC) on: VectorOdss size: 3;
             #(zeigerQ) on: VectorOdss size: 4;

  auxiliarEquation:
    div := (((posVorne at: 3) - (posGelenk at: 3)) sin) + (((posHinten at: 3) - (posGelenk at: 3)) sin);
    zeigerC at: 1 put: 0;
    zeigerC at: 2 put: (div * ueberhoehung + 3.14259);
    zeigerC at: 3 put: 0;
    zeigerQ put: (zeigerC asCardanOdss asQuaternionOdss);

  outputEquation:
    divWinkel := div;
    pos at: 1 put: 0;
    pos at: 2 put: -0.5;
    pos at: 3 put: -0.5;
    ori := zeigerQ;

end.