PID.zip_MATLAB代码生成_matlab_pid

/* * File: PID_control.c * * Code generated for Simulink model 'PID_control'. * * Model version : 1.1 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 * C/C++ source code generated on : Tue Jul 9 16:54:27 2019 * * Target selection: ert.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) * Code generation objectives: Unspecified * Validation result: Not run */ #include "PID_control.h" /* Invariant block signals (default storage) */ const ConstB_PID_control_T PID_control_ConstB = { 0.1, /* '<S6>/Gain' */ 0.010000000000000002, /* '<S6>/Math Function' */ 0.25, /* '<S6>/Gain1' */ 0.0625, /* '<S6>/Math Function1' */ 0.072500000000000009, /* '<S6>/Add' */ 0.26925824035672524, /* '<S6>/Sqrt' */ 0.3805063771123649, /* '<S6>/Trigonometric Function' */ 0.9284766908852593, /* '<S301>/Trigonometric Function1' */ 0.37139067635410372, /* '<S301>/Trigonometric Function2' */ 0.9284766908852593, /* '<S299>/Trigonometric Function' */ 0.37139067635410372, /* '<S299>/Trigonometric Function1' */ 0.37139067635410372, /* '<S302>/Trigonometric Function2' */ 0.9284766908852593, /* '<S302>/Trigonometric Function1' */ 0.9284766908852593, /* '<S300>/Trigonometric Function' */ 0.37139067635410372 /* '<S300>/Trigonometric Function1' */ }; /* Block signals (default storage) */ B_PID_control_T PID_control_B; /* Block states (default storage) */ DW_PID_control_T PID_control_DW; /* External inputs (root inport signals with default storage) */ ExtU_PID_control_T PID_control_U; /* External outputs (root outports fed by signals with default storage) */ ExtY_PID_control_T PID_control_Y; /* Real-time model */ RT_MODEL_PID_control_T PID_control_M_; RT_MODEL_PID_control_T *const PID_control_M = &PID_control_M_; static void PID_cont_FunctionCallSubsystem2(real_T rtu_In1, real_T rtu_In2, real_T *rty_Out1, real_T *rty_Out1_n); static void PID_cont_FunctionCallSubsystem1(real_T rtu_In1, real_T rtu_In2, real_T *rty_Out1, real_T *rty_Out1_j); /* * Output and update for action system: * '<S7>/Function-Call Subsystem2' * '<S309>/Function-Call Subsystem1' * '<S316>/Function-Call Subsystem1' */ static void PID_cont_FunctionCallSubsystem2(real_T rtu_In1, real_T rtu_In2, real_T *rty_Out1, real_T *rty_Out1_n) { /* Sum: '<S305>/Subtract' incorporates: * Constant: '<S305>/Constant' */ *rty_Out1_n = rtu_In2 + 3.1415926535897931; /* Gain: '<S305>/Gain' */ *rty_Out1 = -rtu_In1; } /* * Output and update for action system: * '<S311>/Function-Call Subsystem1' * '<S318>/Function-Call Subsystem1' */ static void PID_cont_FunctionCallSubsystem1(real_T rtu_In1, real_T rtu_In2, real_T *rty_Out1, real_T *rty_Out1_j) { /* Sum: '<S314>/Subtract' incorporates: * Constant: '<S314>/Constant' */ *rty_Out1_j = rtu_In2 - 3.1415926535897931; /* Gain: '<S314>/Gain' */ *rty_Out1 = -rtu_In1; } /* Model step function */ void PID_control_step(void) { real_T rtb_Add_li; real_T rtb_Add1_h; real_T rtb_TrigonometricFunction; real_T rtb_MathFunction; real_T rtb_Subtract_j; real_T rtb_Subtract_p; /* Gain: '<S6>/Gain3' incorporates: * Gain: '<S178>/Proportional Gain' * Inport: '<Root>/Y_act' * Inport: '<Root>/Y_aim' * Sum: '<S5>/Subtract1' */ rtb_Add_li = (PID_control_U.Y_aim - PID_control_U.Y_act) * 0.5 * 0.001; /* Product: '<S301>/Product' incorporates: * Gain: '<S274>/Proportional Gain' * Inport: '<Root>/theta_act' * Inport: '<Root>/theta_aim' * Product: '<S299>/Product' * Product: '<S300>/Product' * Product: '<S302>/Product' * Sum: '<S5>/Subtract2' */ rtb_Subtract_p = (PID_control_U.theta_aim - PID_control_U.theta_act) * 0.0 * PID_control_ConstB.Sqrt; /* Gain: '<S6>/Gain2' incorporates: * Gain: '<S82>/Proportional Gain' * Inport: '<Root>/X_act' * Inport: '<Root>/X_aim' * Sum: '<S5>/Subtract' */ rtb_Add1_h = (PID_control_U.X_aim - PID_control_U.X_act) * 0.5 * 0.001; /* Trigonometry: '<S301>/Trigonometric Function' incorporates: * Product: '<S301>/Divide' * Product: '<S301>/Product' * Product: '<S301>/Product1' * Product: '<S301>/Product2' * Sum: '<S301>/Add' * Sum: '<S301>/Add1' */ rtb_TrigonometricFunction = atan((rtb_Subtract_p * PID_control_ConstB.TrigonometricFunction1 + rtb_Add_li) / (PID_control_ConstB.TrigonometricFunction2 * rtb_Subtract_p + rtb_Add1_h)); /* Sum: '<S299>/Add' incorporates: * Product: '<S299>/Product1' */ PID_control_Y.velocity_rear = rtb_Subtract_p * PID_control_ConstB.TrigonometricFunction_i + rtb_Add_li; /* Math: '<S299>/Math Function' */ rtb_MathFunction = PID_control_Y.velocity_rear * PID_control_Y.velocity_rear; /* Sum: '<S299>/Add1' incorporates: * Product: '<S299>/Product2' */ PID_control_Y.velocity_rear = PID_control_ConstB.TrigonometricFunction1_j * rtb_Subtract_p + rtb_Add1_h; /* Gain: '<S6>/Gain4' incorporates: * Math: '<S299>/Math Function1' * Sqrt: '<S299>/Sqrt' * Sum: '<S299>/Add2' */ rtb_MathFunction = sqrt(PID_control_Y.velocity_rear * PID_control_Y.velocity_rear + rtb_MathFunction) * 1000.0; /* If: '<S7>/If' */ if (rtb_TrigonometricFunction > 2.0) { /* Outputs for IfAction SubSystem: '<S7>/Function-Call Subsystem' incorporates: * ActionPort: '<S303>/Action Port' */ /* Sum: '<S303>/Subtract' incorporates: * Constant: '<S303>/Constant' */ PID_control_B.Merge[1] = rtb_TrigonometricFunction - 3.1415926535897931; /* Gain: '<S303>/Gain' */ PID_control_B.Merge[0] = -rtb_MathFunction; /* End of Outputs for SubSystem: '<S7>/Function-Call Subsystem' */ } else if (rtb_TrigonometricFunction < -2.0) { /* Outputs for IfAction SubSystem: '<S7>/Function-Call Subsystem2' incorporates: * ActionPort: '<S305>/Action Port' */ PID_cont_FunctionCallSubsystem2(rtb_MathFunction, rtb_TrigonometricFunction, &PID_control_B.Merge[0], &PID_control_B.Merge[1]); /* End of Outputs for SubSystem: '<S7>/Function-Call Subsystem2' */ } else { /* Outputs for IfAction SubSystem: '<S7>/Function-Call Subsystem1' incorporates: * ActionPort: '<S304>/Action Port' */ /* Sum: '<S304>/Subtract' incorporates: * Inport: '<Root>/theta_front_wheel' */ rtb_Subtract_j = rtb_TrigonometricFunction - PID_control_U.theta_front_wheel; /* If: '<S304>/If' incorporates: * Inport: '<S310>/In1' * Inport: '<S310>/In2' */ if (rtb_Subtract_j > 1.57) { /* Outputs for IfAction SubSystem: '<S304>/Function-Call Subsystem3' incorporates: * ActionPort: '<S311>/Action Port' */ /* If: '<S311>/If' incorporates: * Constant: '<S311>/Constant' * Inport: '<S315>/In1' * Inport: '<S315>/In2' * Sum: '<S311>/Add' */ if (rtb_TrigonometricFunction - 3.1415926535897931 < -2.0) { /* Outputs for IfAction SubSystem: '<S311>/Function-Call Subsystem3' incorporates: * ActionPort: '<S315>/Action Port' */ PID_control_B.Merge[0] = rtb_MathFunction; PID_control_B.Merge[1] = rtb_TrigonometricFunction; /* End of Outputs for SubSystem: '<S311>/Function-Call Subsystem3' */ } else { /* Outputs for IfAction SubSystem: '<S311>/Function-Call Subsystem1' incorporates: * ActionPort: '<S314>/Action Port' */ PID_cont_FunctionCallSubsystem1(rtb_Ma