mirror of
https://github.com/ohmyjesus/RBF_NeuralNetwork.git
synced 2026-02-06 03:31:48 +08:00
73 lines
1.4 KiB
Matlab
73 lines
1.4 KiB
Matlab
function [sys,x0,str,ts] = CRP_input(t,x,u,flag)
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switch flag
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case 0
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[sys,x0,str,ts]=mdlInitializeSizes;
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case 1
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sys=mdlDerivatives(t,x,u);
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case 3
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sys=mdlOutputs(t,x,u);
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case {2,4,9}
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sys=[];
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otherwise
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error(['Unhandled flag = ',num2str(flag)]);
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end
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function [sys,x0,str,ts]=mdlInitializeSizes
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sizes = simsizes;
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sizes.NumContStates = 0;
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sizes.NumDiscStates = 0;
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sizes.NumOutputs = 18;
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sizes.NumInputs = 0;
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sizes.DirFeedthrough = 0;
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sizes.NumSampleTimes = 0;
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sys = simsizes(sizes);
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x0 = [];
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str = [];
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ts = [];
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function sys=mdlOutputs(t,x,u)
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global xite
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% ½Ç¶È¸ú×ÙÖ¸Áî
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qd1 = 0.1*cos(2*pi*t);
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qd2 = 0.1*cos(pi*t);
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qd3 = 0.1*cos(pi*t);
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qd4 = 0.1*cos(pi*t);
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qd5 = 0.1*cos(pi*t);
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qd6 = 0.1*cos(pi*t);
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% ½ÇËٶȸú×ÙÖ¸Áî
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dqd1 = -0.1*2*pi*sin(2*pi*t);
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dqd2 = -0.1*pi*sin(pi*t);
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dqd3 = -0.1*pi*sin(pi*t);
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dqd4 = -0.1*pi*sin(pi*t);
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dqd5 = -0.1*pi*sin(pi*t);
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dqd6 = -0.1*pi*sin(pi*t);
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% ½Ç¼ÓËٶȸú×ÙÖ¸Áî
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ddqd1 = -0.1*2*2*pi*pi*cos(2*pi*t);
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ddqd2 = -0.1*pi*pi*cos(pi*t);
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ddqd3 = -0.1*pi*pi*cos(pi*t);
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ddqd4 = -0.1*pi*pi*cos(pi*t);
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ddqd5 = -0.1*pi*pi*cos(pi*t);
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ddqd6 = -0.1*pi*pi*cos(pi*t);
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sys(1) = qd1;
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sys(2) = qd2;
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sys(3) = qd3;
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sys(4) = qd4;
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sys(5) = qd5;
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sys(6) = qd6;
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sys(7) = dqd1;
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sys(8) = dqd2;
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sys(9) = dqd3;
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sys(10) = dqd4;
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sys(11) = dqd5;
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sys(12) = dqd6;
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sys(13) = ddqd1;
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sys(14) = ddqd2;
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sys(15) = ddqd3;
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sys(16) = ddqd4;
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sys(17) = ddqd5;
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sys(18) = ddqd6;
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