基于Matlab实现船舶多MPC的蒙特卡罗模拟与鲁棒性分析 （源码+数据）.rar

/* * File: state_space_c.c * * * --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 --- * * This file is an S-function produced by the S-Function * Builder which only recognizes certain fields. Changes made * outside these fields will be lost the next time the block is * used to load, edit, and resave this file. This file will be overwritten * by the S-function Builder block. If you want to edit this file by hand, * you must change it only in the area defined as: * * %%%-SFUNWIZ_defines_Changes_BEGIN * #define NAME 'replacement text' * %%% SFUNWIZ_defines_Changes_END * * DO NOT change NAME--Change the 'replacement text' only. * * For better compatibility with the Simulink Coder, the * "wrapper" S-function technique is used. This is discussed * in the Simulink Coder's Manual in the Chapter titled, * "Wrapper S-functions". * * ------------------------------------------------------------------------- * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template | * ------------------------------------------------------------------------- */ #define S_FUNCTION_LEVEL 2 #define S_FUNCTION_NAME state_space_c /*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/ /* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */ #define NUM_INPUTS 1 /* Input Port 0 */ #define IN_PORT_0_NAME u0 #define INPUT_0_WIDTH 35 #define INPUT_DIMS_0_COL 1 #define INPUT_0_DTYPE real_T #define INPUT_0_COMPLEX COMPLEX_NO #define IN_0_FRAME_BASED FRAME_NO #define IN_0_BUS_BASED 0 #define IN_0_BUS_NAME #define IN_0_DIMS 1-D #define INPUT_0_FEEDTHROUGH 1 #define IN_0_ISSIGNED 0 #define IN_0_WORDLENGTH 8 #define IN_0_FIXPOINTSCALING 1 #define IN_0_FRACTIONLENGTH 9 #define IN_0_BIAS 0 #define IN_0_SLOPE 0.125 #define NUM_OUTPUTS 1 /* Output Port 0 */ #define OUT_PORT_0_NAME y0 #define OUTPUT_0_WIDTH 7 #define OUTPUT_DIMS_0_COL 1 #define OUTPUT_0_DTYPE real_T #define OUTPUT_0_COMPLEX COMPLEX_NO #define OUT_0_FRAME_BASED FRAME_NO #define OUT_0_BUS_BASED 0 #define OUT_0_BUS_NAME #define OUT_0_DIMS 1-D #define OUT_0_ISSIGNED 1 #define OUT_0_WORDLENGTH 8 #define OUT_0_FIXPOINTSCALING 1 #define OUT_0_FRACTIONLENGTH 3 #define OUT_0_BIAS 0 #define OUT_0_SLOPE 0.125 #define NPARAMS 0 #define SAMPLE_TIME_0 0 #define NUM_DISC_STATES 0 #define DISC_STATES_IC [0] #define NUM_CONT_STATES 6 #define CONT_STATES_IC [2.228,0,0,0,0,0] #define SFUNWIZ_GENERATE_TLC 1 #define SOURCEFILES "__SFB____SFB__" #define PANELINDEX 0 #define USE_SIMSTRUCT 0 #define SHOW_COMPILE_STEPS 0 #define CREATE_DEBUG_MEXFILE 0 #define SAVE_CODE_ONLY 0 #define SFUNWIZ_REVISION 3.0 /* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */ /*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/ #include "simstruc.h" extern void state_space_c_Outputs_wrapper(const real_T *u0, real_T *y0, const real_T *xC); extern void state_space_c_Derivatives_wrapper(const real_T *u0, real_T *y0, real_T *dx, real_T *xC); /*====================* * S-function methods * *====================*/ /* Function: mdlInitializeSizes =============================================== * Abstract: * Setup sizes of the various vectors. */ static void mdlInitializeSizes(SimStruct *S) { DECL_AND_INIT_DIMSINFO(inputDimsInfo); DECL_AND_INIT_DIMSINFO(outputDimsInfo); ssSetNumSFcnParams(S, NPARAMS); if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; /* Parameter mismatch will be reported by Simulink */ } ssSetNumContStates(S, NUM_CONT_STATES); ssSetNumDiscStates(S, NUM_DISC_STATES); if (!ssSetNumInputPorts(S, NUM_INPUTS)) return; ssSetInputPortWidth(S, 0, INPUT_0_WIDTH); ssSetInputPortDataType(S, 0, SS_DOUBLE); ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX); ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/ if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); ssSetOutputPortDataType(S, 0, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); ssSetSimulinkVersionGeneratedIn(S, "8.9"); /* Take care when specifying exception free code - see sfuntmpl_doc.c */ ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_USE_TLC_WITH_ACCELERATOR | SS_OPTION_WORKS_WITH_CODE_REUSE)); } #if defined(MATLAB_MEX_FILE) #define MDL_SET_INPUT_PORT_DIMENSION_INFO static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) { if(!ssSetInputPortDimensionInfo(S, port, dimsInfo)) return; } #endif #define MDL_SET_OUTPUT_PORT_DIMENSION_INFO #if defined(MDL_SET_OUTPUT_PORT_DIMENSION_INFO) static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) { if (!ssSetOutputPortDimensionInfo(S, port, dimsInfo)) return; } #endif #define MDL_SET_INPUT_PORT_FRAME_DATA static void mdlSetInputPortFrameData(SimStruct *S, int_T port, Frame_T frameData) { ssSetInputPortFrameData(S, port, frameData); } /* Function: mdlInitializeSampleTimes ========================================= * Abstract: * Specifiy the sample time. */ static void mdlInitializeSampleTimes(SimStruct *S) { ssSetSampleTime(S, 0, SAMPLE_TIME_0); ssSetModelReferenceSampleTimeDefaultInheritance(S); ssSetOffsetTime(S, 0, 0.0); } #define MDL_INITIALIZE_CONDITIONS /* Function: mdlInitializeConditions ======================================== * Abstract: * Initialize the states */ static void mdlInitializeConditions(SimStruct *S) { real_T *xC = ssGetContStates(S); xC[0] = 2.228; xC[1] = 0; xC[2] = 0; xC[3] = 0; xC[4] = 0; xC[5] = 0; } #define MDL_SET_INPUT_PORT_DATA_TYPE static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType) { ssSetInputPortDataType(S, 0, dType); } #define MDL_SET_OUTPUT_PORT_DATA_TYPE static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType) { ssSetOutputPortDataType(S, 0, dType); } #define MDL_SET_DEFAULT_PORT_DATA_TYPES static void mdlSetDefaultPortDataTypes(SimStruct *S) { ssSetInputPortDataType(S, 0, SS_DOUBLE); ssSetOutputPortDataType(S, 0, SS_DOUBLE); } /* Function: mdlOutputs ======================================================= * */ static void mdlOutputs(SimStruct *S, int_T tid) { const real_T *u0 = (const real_T *) ssGetInputPortSignal(S, 0); real_T *y0 = (real_T *) ssGetOutputPortRealSignal(S, 0); const real_T *xC = ssGetContStates(S); state_space_c_Outputs_wrapper(u0, y0, xC); } #define MDL_DERIVATIVES /* Change to #undef to remove function */ /* Function: mdlDerivatives ================================================= * Abstract: * In this function, you compute the S-function block's derivatives. * The derivatives are placed in the derivative vector, ssGetdX(S). */ static void mdlDerivatives(SimStruct *S) { const real_T *u0 = (const real_T *) ssGetInputPortSignal(S, 0); real_T *dx = ssGetdX(S); real_T *xC = ssGetContStates(S); real_T *y0 = (real_T *) ssGetOutputPortRealSignal(S, 0); 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