anregungclass.mbe

来自「带反馈控制的半车Matlab模型」· MBE 代码 · 共 36 行

""

StateSpaceOdss named: AnregungClass.
  parameter: #(T1)  on: ScalarOdss default: 2.0;
             #(T2)  on: ScalarOdss default: 3.0;
             #(v)   on: ScalarOdss default: -3.0;
             #(h)   on: ScalarOdss default: 0.1;
  input:     #(xs1) on: ScalarOdss;
             #(xs2) on: ScalarOdss;
  output:    #(y2)  on: ScalarOdss;
             #(y1)  on: ScalarOdss;
             #(pos) on: VectorOdss size: 3;
             #(ori) on: VectorOdss size: 4;


  time:      #(t);

  auxiliar:  #(u_aux1) on: ScalarOdss;
             #(u_aux2) on: ScalarOdss;

  auxiliarEquation:
    t > T1 isTrue: [u_aux1 := h] isFalse: [u_aux1 := 0];
    t > T2 isTrue: [u_aux2 := h] isFalse: [u_aux2 := 0];

  outputEquation:
    y1 := u_aux1+xs1;
    y2 := u_aux2+xs2;
    pos at: 1 put: t*v;
    pos at: 2 put: 0;
    pos at: 3 put: 0;
    ori at: 1 put: 0;
    ori at: 2 put: 0;
    ori at: 3 put: 0;
    ori at: 4 put: 1;

end.