Mirrors_Framework/RBF_NeuralNetwork
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Delete CRP_input.m

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iHoney725
2021-01-04 10:34:44 +08:00
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parent 0d1fe882e9
commit 3ab00087b6
1 changed files with 0 additions and 72 deletions
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CRP_input.m
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@@ -1,72 +0,0 @@
function [sys,x0,str,ts] = CRP_input(t,x,u,flag)
switch flag
case 0
[sys,x0,str,ts]=mdlInitializeSizes;
case 1
sys=mdlDerivatives(t,x,u);
case 3
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 18;
sizes.NumInputs = 0;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0 = [];
str = [];
ts = [];
function sys=mdlOutputs(t,x,u)
global xite
% ½Çȸú×ÙÖ¸Áî
qd1 = 0.1*cos(2*pi*t);
qd2 = 0.1*cos(pi*t);
qd3 = 0.1*cos(pi*t);
qd4 = 0.1*cos(pi*t);
qd5 = 0.1*cos(pi*t);
qd6 = 0.1*cos(pi*t);
% ½ÇËÙȸú×ÙÖ¸Áî
dqd1 = -0.1*2*pi*sin(2*pi*t);
dqd2 = -0.1*pi*sin(pi*t);
dqd3 = -0.1*pi*sin(pi*t);
dqd4 = -0.1*pi*sin(pi*t);
dqd5 = -0.1*pi*sin(pi*t);
dqd6 = -0.1*pi*sin(pi*t);
% ½Ç¼ÓËÙȸú×ÙÖ¸Áî
ddqd1 = -0.1*2*2*pi*pi*cos(2*pi*t);
ddqd2 = -0.1*pi*pi*cos(pi*t);
ddqd3 = -0.1*pi*pi*cos(pi*t);
ddqd4 = -0.1*pi*pi*cos(pi*t);
ddqd5 = -0.1*pi*pi*cos(pi*t);
ddqd6 = -0.1*pi*pi*cos(pi*t);
sys(1) = qd1;
sys(2) = qd2;
sys(3) = qd3;
sys(4) = qd4;
sys(5) = qd5;
sys(6) = qd6;
sys(7) = dqd1;
sys(8) = dqd2;
sys(9) = dqd3;
sys(10) = dqd4;
sys(11) = dqd5;
sys(12) = dqd6;
sys(13) = ddqd1;
sys(14) = ddqd2;
sys(15) = ddqd3;
sys(16) = ddqd4;
sys(17) = ddqd5;
sys(18) = ddqd6;