在matlab里simulink中实现计算力矩控制的简单仿真.zip

/* Include files */ #include <stddef.h> #include "blas.h" #include "ctc_sfun.h" #include "c2_ctc.h" #include "mwmathutil.h" #define CHARTINSTANCE_CHARTNUMBER (chartInstance->chartNumber) #define CHARTINSTANCE_INSTANCENUMBER (chartInstance->instanceNumber) #include "ctc_sfun_debug_macros.h" #define _SF_MEX_LISTEN_FOR_CTRL_C(S) sf_mex_listen_for_ctrl_c(sfGlobalDebugInstanceStruct,S); /* Type Definitions */ /* Named Constants */ #define CALL_EVENT (-1) /* Variable Declarations */ /* Variable Definitions */ static real_T _sfTime_; static const char * c2_debug_family_names[17] = { "m1", "m2", "l1", "l2", "q1", "q2", "qd1", "qd2", "M", "C", "G", "nargin", "nargout", "q", "qd", "qdd", "Q" }; /* Function Declarations */ static void initialize_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void initialize_params_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void enable_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void disable_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void c2_update_debugger_state_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static const mxArray *get_sim_state_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void set_sim_state_c2_ctc(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_st); static void finalize_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void sf_gateway_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void c2_chartstep_c2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void initSimStructsc2_ctc(SFc2_ctcInstanceStruct *chartInstance); static void init_script_number_translation(uint32_T c2_machineNumber, uint32_T c2_chartNumber, uint32_T c2_instanceNumber); static const mxArray *c2_sf_marshallOut(void *chartInstanceVoid, void *c2_inData); static void c2_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_Q, const char_T *c2_identifier, real_T c2_y[2]); static void c2_b_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId, real_T c2_y[2]); static void c2_sf_marshallIn(void *chartInstanceVoid, const mxArray *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData); static const mxArray *c2_b_sf_marshallOut(void *chartInstanceVoid, void *c2_inData); static real_T c2_c_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId); static void c2_b_sf_marshallIn(void *chartInstanceVoid, const mxArray *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData); static const mxArray *c2_c_sf_marshallOut(void *chartInstanceVoid, void *c2_inData); static void c2_d_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId, real_T c2_y[4]); static void c2_c_sf_marshallIn(void *chartInstanceVoid, const mxArray *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData); static void c2_info_helper(const mxArray **c2_info); static const mxArray *c2_emlrt_marshallOut(const char * c2_u); static const mxArray *c2_b_emlrt_marshallOut(const uint32_T c2_u); static void c2_eml_scalar_eg(SFc2_ctcInstanceStruct *chartInstance); static void c2_eml_xgemm(SFc2_ctcInstanceStruct *chartInstance, real_T c2_A[4], real_T c2_B[2], real_T c2_C[2], real_T c2_b_C[2]); static const mxArray *c2_d_sf_marshallOut(void *chartInstanceVoid, void *c2_inData); static int32_T c2_e_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId); static void c2_d_sf_marshallIn(void *chartInstanceVoid, const mxArray *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData); static uint8_T c2_f_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_b_is_active_c2_ctc, const char_T *c2_identifier); static uint8_T c2_g_emlrt_marshallIn(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId); static void c2_b_eml_xgemm(SFc2_ctcInstanceStruct *chartInstance, real_T c2_A[4], real_T c2_B[2], real_T c2_C[2]); static void init_dsm_address_info(SFc2_ctcInstanceStruct *chartInstance); /* Function Definitions */ static void initialize_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { chartInstance->c2_sfEvent = CALL_EVENT; _sfTime_ = sf_get_time(chartInstance->S); chartInstance->c2_is_active_c2_ctc = 0U; } static void initialize_params_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { (void)chartInstance; } static void enable_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { _sfTime_ = sf_get_time(chartInstance->S); } static void disable_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { _sfTime_ = sf_get_time(chartInstance->S); } static void c2_update_debugger_state_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { (void)chartInstance; } static const mxArray *get_sim_state_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { const mxArray *c2_st; const mxArray *c2_y = NULL; int32_T c2_i0; real_T c2_u[2]; const mxArray *c2_b_y = NULL; uint8_T c2_hoistedGlobal; uint8_T c2_b_u; const mxArray *c2_c_y = NULL; real_T (*c2_Q)[2]; c2_Q = (real_T (*)[2])ssGetOutputPortSignal(chartInstance->S, 1); c2_st = NULL; c2_st = NULL; c2_y = NULL; sf_mex_assign(&c2_y, sf_mex_createcellmatrix(2, 1), false); for (c2_i0 = 0; c2_i0 < 2; c2_i0++) { c2_u[c2_i0] = (*c2_Q)[c2_i0]; } c2_b_y = NULL; sf_mex_assign(&c2_b_y, sf_mex_create("y", c2_u, 0, 0U, 1U, 0U, 1, 2), false); sf_mex_setcell(c2_y, 0, c2_b_y); c2_hoistedGlobal = chartInstance->c2_is_active_c2_ctc; c2_b_u = c2_hoistedGlobal; c2_c_y = NULL; sf_mex_assign(&c2_c_y, sf_mex_create("y", &c2_b_u, 3, 0U, 0U, 0U, 0), false); sf_mex_setcell(c2_y, 1, c2_c_y); sf_mex_assign(&c2_st, c2_y, false); return c2_st; } static void set_sim_state_c2_ctc(SFc2_ctcInstanceStruct *chartInstance, const mxArray *c2_st) { const mxArray *c2_u; real_T c2_dv0[2]; int32_T c2_i1; real_T (*c2_Q)[2]; c2_Q = (real_T (*)[2])ssGetOutputPortSignal(chartInstance->S, 1); chartInstance->c2_doneDoubleBufferReInit = true; c2_u = sf_mex_dup(c2_st); c2_emlrt_marshallIn(chartInstance, sf_mex_dup(sf_mex_getcell(c2_u, 0)), "Q", c2_dv0); for (c2_i1 = 0; c2_i1 < 2; c2_i1++) { (*c2_Q)[c2_i1] = c2_dv0[c2_i1]; } chartInstance->c2_is_active_c2_ctc = c2_f_emlrt_marshallIn(chartInstance, sf_mex_dup(sf_mex_getcell(c2_u, 1)), "is_active_c2_ctc"); sf_mex_destroy(&c2_u); c2_update_debugger_state_c2_ctc(chartInstance); sf_mex_destroy(&c2_st); } static void finalize_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { (void)chartInstance; } static void sf_gateway_c2_ctc(SFc2_ctcInstanceStruct *chartInstance) { int32_T c2_i2; int32_T c2_i3; int32_T c2_i4; int32_T c2_i5; real_T (*c2_qdd)[2]; real_T (*c2_qd)[2]; real_T (*c2_Q)[2]; real_T (*c2_q)[2]; c2_qdd = (real_T (*)[2])ssGetInputPortSignal(chartInstance->S, 2); c2_qd = (real_T (*)[2])ssGetInputPortSignal(chartInstance->S, 1); c2_Q = (real_T (*)[2])ssGetOutputPortSignal(chartInstance->S, 1); c2_q = (real_T (*)[2])ssGetInputPortSignal(chartInstance->S, 0); _SFD_SYMBOL_SCOPE_PUSH(0U, 0U); _sfTime_ = sf_get_time(chartInstance->S); _SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 1U, chartInstance->c2_sfEvent); for (c2_i2 = 0; c2_i2 < 2; c2_i2++) { _SFD_DATA_RANGE_CHECK((*c2_q)[c2_i2], 0U); } chartInstance->c2_sfEvent = CALL_EVENT; c2_chartstep_c2_ctc(chartInstance); _SFD_SYMBOL_SCOPE_POP(); _SFD_CHECK_FOR_STATE_INCONSISTENCY(_ctcMachineNumber_, chartInstance->chartNumber, chartInstance->instanceNumber); for (c2_i3 = 0; c2_i3 < 2; c2_i3++) { _SFD_DATA_RANGE_CHECK((*c2_Q)[c2_i3], 1U); } for (c2_i4 = 0; c2_i4 < 2; c2_i4++) { _SFD_DATA_RANGE