1 /*
2 * DMC_system_demo_data.c
3 *
4 * Real-Time Workshop code generation for Simulink model "DMC_system_demo.mdl".
5 *
6 * Model Version : 1.465
7 * Real-Time Workshop version : 7.0 (R2007b) 02-Aug-2007
8 * C source code generated on : Wed Oct 24 16:51:00 2007
9 */
10
11 #include "DMC_system_demo.h"
12 #include "DMC_system_demo_private.h"
13
14 /* Block parameters (auto storage) */
15 Parameters_DMC_system_demo DMC_system_demo_P = {
16 /* ENC1_P1_Size : '<S6>/ENC1'
17 */
18 { 1.0, 1.0 },
19 96.0, /* ENC1_P1 : '<S6>/ENC1'
20 */
21
22 /* ENC1_P2_Size : '<S6>/ENC1'
23 */
24 { 1.0, 1.0 },
25 1.0, /* ENC1_P2 : '<S6>/ENC1'
26 */
27
28 /* ENC1_P3_Size : '<S6>/ENC1'
29 */
30 { 1.0, 1.0 },
31 1.0, /* ENC1_P3 : '<S6>/ENC1'
32 */
33
34 /* ENC1_P4_Size : '<S6>/ENC1'
35 */
36 { 1.0, 1.0 },
37 32768.0, /* ENC1_P4 : '<S6>/ENC1'
38 */
39
40 /* ENC1_P5_Size : '<S6>/ENC1'
41 */
42 { 1.0, 1.0 },
43 0.002, /* ENC1_P5 : '<S6>/ENC1'
44 */
45
46 /* ENC1_P6_Size : '<S6>/ENC1'
47 */
48 { 1.0, 1.0 },
49 640.0, /* ENC1_P6 : '<S6>/ENC1'
50 */
51 32768.0, /* offset1_Value : '<S7>/offset 1'
52 */
53 0.0, /* Memory_X0 : '<S13>/Memory'
54 */
55 32768.0, /* offset1_Value_f : '<S13>/offset 1'
56 */
57
58 /* ENC2_P1_Size : '<S6>/ENC2'
59 */
60 { 1.0, 1.0 },
61 96.0, /* ENC2_P1 : '<S6>/ENC2'
62 */
63
64 /* ENC2_P2_Size : '<S6>/ENC2'
65 */
66 { 1.0, 1.0 },
67 1.0, /* ENC2_P2 : '<S6>/ENC2'
68 */
69
70 /* ENC2_P3_Size : '<S6>/ENC2'
71 */
72 { 1.0, 1.0 },
73 2.0, /* ENC2_P3 : '<S6>/ENC2'
74 */
75
76 /* ENC2_P4_Size : '<S6>/ENC2'
77 */
78 { 1.0, 1.0 },
79 32768.0, /* ENC2_P4 : '<S6>/ENC2'
80 */
81
82 /* ENC2_P5_Size : '<S6>/ENC2'
83 */
84 { 1.0, 1.0 },
85 0.002, /* ENC2_P5 : '<S6>/ENC2'
86 */
87
88 /* ENC2_P6_Size : '<S6>/ENC2'
89 */
90 { 1.0, 1.0 },
91 640.0, /* ENC2_P6 : '<S6>/ENC2'
92 */
93 32768.0, /* offset2_Value : '<S7>/offset 2'
94 */
95 0.0, /* Memory_X0_p : '<S14>/Memory'
96 */
97 32768.0, /* offset1_Value_c : '<S14>/offset 1'
98 */
99 3.1415926535897933E-003, /* Encoder1Positionrad_Gain : '<S7>/Encoder 1 Position [rad]'
100 */
101 -3.1415926535897933E-003, /* Encoder2Positionrad_Gain : '<S7>/Encoder 2 Position [rad]'
102 */
103 0.0, /* UnitDelay1_X0 : '<S21>/Unit Delay1'
104 */
105 1.4699999999999998E-013, /* J1J2_Gain : '<S21>/J1*J2'
106 */
107 1.0, /* tuned_Gain : '<S21>/tune d'
108 */
109 0.0, /* UnitDelay2_X0 : '<S21>/Unit Delay2'
110 */
111 0.0, /* UnitDelay_X0 : '<S25>/Unit Delay'
112 */
113 0.5, /* alpha_Gain : '<S25>/1-alpha'
114 */
115 1.921E-012, /* J1J2b12J1b2J2b1_Gain : '<S21>/(J1+J2)*b12+J1*b2+J2*b1'
116 */
117 1.0, /* tunej_Gain : '<S21>/tune j'
118 */
119 0.0, /* UnitDelay3_X0 : '<S21>/Unit Delay3'
120 */
121 1.4690639999999998E-008, /* J1J2kb1b2b1b2b12_Gain : '<S21>/(J1+J2)*k+b1*b2+(b1+b2)*b12'
122 */
123 1.0, /* tunea_Gain : '<S21>/tune a'
124 */
125 0.002, /* velocity_gainval : '<S21>/velocity'
126 */
127 0.0, /* velocity_IC : '<S21>/velocity'
128 */
129 0.0, /* UnitDelay_X0_f : '<S24>/Unit Delay'
130 */
131 0.5, /* alpha_Gain_p : '<S24>/1-alpha'
132 */
133 5.1999999999999994E-009, /* b1b2k_Gain : '<S21>/(b1+b2)*k'
134 */
135 1.0, /* tunev_Gain : '<S21>/tune v'
136 */
137 6.8965517241379317E+001, /* b12Ts2kb12Ts_Gain : '<S21>/1//b12*Ts//(2+k//b12*Ts)'
138 */
139 0.0, /* UnitDelay_X0_k : '<S21>/Unit Delay'
140 */
141 -7.9310344827586210E-001, /* ukb12Ts2kb12Ts_Gain : '<S21>/(2-k//b12*Ts)//(2+k//b12*Ts)'
142 */
143 0.0, /* Select4thRB_Value : '<S21>/Select: 4th | RB'
144 */
145 1.0, /* Enable1_Value : '<S19>/Enable1'
146 */
147 0.5, /* Switch17_Threshold : '<S21>/Switch17'
148 */
149 0.0, /* dryfrictioncompensation_Gain : '<S21>/dry friction compensation'
150 */
151 1.0, /* Constant_Value : '<S19>/Constant'
152 */
153 1.5E-007, /* J2_Gain : '<S21>/J2'
154 */
155 1.0, /* tuneax1_Gain : '<S21>/tune ax1'
156 */
157 1.7E-006, /* b2b12_Gain : '<S21>/b2+b12'
158 */
159 1.0, /* tunevx1_Gain : '<S21>/tune vx1'
160 */
161 0.002, /* position_gainval : '<S21>/position'
162 */
163 0.0, /* position_IC : '<S21>/position'
164 */
165 0.013, /* k_Gain : '<S21>/k'
166 */
167 6.8965517241379317E+001, /* b12Ts2kb12Tscopy_Gain : '<S21>/1//b12*Ts//(2+k//b12*Ts) copy'
168 */
169 0.0, /* UnitDelay4_X0 : '<S21>/Unit Delay4'
170 */
171 -7.9310344827586210E-001, /* ukb12Ts2kb12Tscopy_Gain : '<S21>/(2-k//b12*Ts)//(2+k//b12*Ts) copy'
172 */
173 0.0, /* Selectx1x2_Value : '<S21>/Select: x1 | x2'
174 */
175 0.5, /* Switch16_Threshold : '<S21>/Switch16'
176 */
177 0.0, /* UnitDelay_X0_g : '<S26>/Unit Delay'
178 */
179 0.5, /* alpha_Gain_c : '<S26>/1-alpha'
180 */
181 1.0, /* Gain1_Gain : '<S19>/Gain1'
182 */
183 0.0013, /* Gain_Gain : '<S35>/Gain'
184 */
185 3.1590070714095236E-001, /* DiscreteTransferFcn_A : '<S36>/Discrete Transfer Fcn'
186 */
187 -1.1552653204757361E+001, /* DiscreteTransferFcn_C : '<S36>/Discrete Transfer Fcn'
188 */
189 1.7887392408308891E+001, /* DiscreteTransferFcn_D : '<S36>/Discrete Transfer Fcn'
190 */
191
192 /* DiscreteTransferFcn_A_k : '<S37>/Discrete Transfer Fcn'
193 */
194 { 8.9954288163588181E-001, -3.4799222841209876E-001 },
195
196 /* DiscreteTransferFcn_C_h : '<S37>/Discrete Transfer Fcn'
197 */
198 { -6.0410900950387303E-001, 6.1652078587551562E-001 },
199 9.7232290232806018E-001, /* DiscreteTransferFcn_D_k : '<S37>/Discrete Transfer Fcn'
200 */
201 1.2195121951219511E+002, /* ConverttoVoltageRefforCurrentLo : '<S4>/Convert to Voltage Ref for Current Loop'
202 */
203 2.5, /* Saturation_UpperSat : '<S6>/Saturation'
204 */
205 -2.5, /* Saturation_LowerSat : '<S6>/Saturation'
206 */
207
208 /* DA_P1_Size : '<S6>/D//A'
209 */
210 { 1.0, 1.0 },
211 1.0, /* DA_P1 : '<S6>/D//A'
212 */
213
214 /* DA_P2_Size : '<S6>/D//A'
215 */
216 { 1.0, 1.0 },
217 2.0, /* DA_P2 : '<S6>/D//A'
218 */
219
220 /* DA_P3_Size : '<S6>/D//A'
221 */
222 { 1.0, 1.0 },
223 1.0, /* DA_P3 : '<S6>/D//A'
224 */
225
226 /* DA_P4_Size : '<S6>/D//A'
227 */
228 { 1.0, 1.0 },
229 0.0, /* DA_P4 : '<S6>/D//A'
230 */
231
232 /* DA_P5_Size : '<S6>/D//A'
233 */
234 { 1.0, 1.0 },
235 0.002, /* DA_P5 : '<S6>/D//A'
236 */
237
238 /* DA_P6_Size : '<S6>/D//A'
239 */
240 { 1.0, 1.0 },
241 768.0, /* DA_P6 : '<S6>/D//A'
242 */
243
244 /* DA_P7_Size : '<S6>/D//A'
245 */
246 { 1.0, 1.0 },
247 1.0, /* DA_P7 : '<S6>/D//A'
248 */
249 1.0, /* Enable_Value : '<S19>/Enable'
250 */
251 0.0, /* UnitDelay5_X0 : '<S21>/Unit Delay5'
252 */
253 100.0, /* p_Value : '<S19>/p'
254 */
255 250.0, /* v_Value : '<S19>/v'
256 */
257 5000.0, /* a_Value : '<S19>/a'
258 */
259 5.0E+005, /* j_Value : '<S19>/j'
260 */
261 1.0E+008, /* d_Value : '<S19>/d'
262 */
263 0.0, /* only0_UpperSat : '<S19>/only >0'
264 */
265 2.2204460492503131E-016, /* only0_LowerSat : '<S19>/only >0'
266 */
267 0.002, /* Ts_Value : '<S19>/Ts'
268 */
269 1.0, /* ReqMove_Value : '<S19>/ReqMove'
270 */
271 0.0, /* Memory3_X0 : '<S28>/Memory3'
272 */
273 0.0, /* Memory6_X0 : '<S22>/Memory6'
274 */
275 0.0, /* Memory2_X0 : '<S22>/Memory2'
276 */
277 0.0, /* Memory3_X0_b : '<S22>/Memory3'
278 */
279 0.002, /* acceleration_gainval : '<S21>/acceleration'
280 */
281 0.0, /* acceleration_IC : '<S21>/acceleration'
282 */
283 0.002, /* jerk_gainval : '<S21>/jerk'
284 */
285 0.0, /* jerk_IC : '<S21>/jerk'
286 */
287 0.0, /* Memory1_X0 : '<S22>/Memory1'
288 */
289 1.0, /* ReqMove1_Value : '<S19>/ReqMove1'
290 */
291 0.5, /* Switch_Threshold : '<S22>/Switch'
292 */
293 200.0, /* SFunction_p1 : '<S12>/Peak removal'
294 */
295 1.0, /* SFunction_p2 : '<S12>/Peak removal'
296 */
297 0.0, /* Out1_Y0 : 'synthesized block'
298 */
299 5.1999999999999994E-009, /* RBb1b2k_Gain : '<S21>/RB: (b1+b2)*k'
300 */
301 1.0, /* RBtunev_Gain : '<S21>/RB: tune v'
302 */
303 1.469E-008, /* RBJ1J2k_Gain : '<S21>/RB: (J1+J2)*k'
304 */
305 1.0, /* RBtunea_Gain : '<S21>/RB: tune a'
306 */
307 7.6923076923076920E+001, /* k_Gain_e : '<S21>/1//k'
308 */
309 1.0, /* Enable1_Value_p : '<S22>/Enable1'
310 */
311 -0.006, /* constant_Value : '<S29>/constant'
312 */
313 1.0, /* Ready_Y0 : 'synthesized block'
314 */
315 2.0, /* Constant20_Value : '<S29>/Constant20'
316 */
317 1.0, /* Settlingtime_Value : '<S29>/Settling time'
318 */
319 0.5, /* Switch_Threshold_f : '<S29>/Switch'
320 */
321 0.002, /* DiscreteTimeIntegrator_gainval : '<S29>/Discrete-Time Integrator'
322 */
323 -0.001, /* DiscreteTimeIntegrator_IC : '<S29>/Discrete-Time Integrator'
324 */
325
326 /* djerksequence_Gain : '<S29>/djerk sequence'
327 */
328 { 0.0, 1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 1.0, 0.0,
329 -1.0, 0.0 },
330 1.0, /* constant1_Value : '<S29>/constant1'
331 */
332
333 /* td_Y0 : 'synthesized block'
334 */
335 { 0.0, 0.0, 0.0, 0.0, 0.0 },
336 0.0, /* Constant_Value_e : '<S4>/Constant'
337 */
338 1.0, /* Gain_Gain_k : '<S19>/Gain'
339 */
340 1U, /* Constant_Value_m : '<S10>/Constant'
341 */
342 1U, /* SwitchControl_Threshold : '<S10>/SwitchControl'
343 */
344 1U, /* Constant_Value_b : '<S11>/Constant'
345 */
346 0U, /* SwitchControl_Threshold_i : '<S11>/SwitchControl'
347 */
348 1U, /* Constant_Value_o : '<S33>/Constant'
349 */
350 0U, /* SwitchControl_Threshold_b : '<S33>/SwitchControl'
351 */
352
353 /* Start of '<S14>/Subsystem' */
354 {
355 0.0, /* Memory_X0 : '<S18>/Memory'
356 */
357 65537.0 /* maxcount_Value : '<S18>/maxcount'
358 */
359 }
360 /* End of '<S14>/Subsystem' */
361 ,
362
363 /* Start of '<S13>/Subsystem' */
364 {
365 0.0, /* Memory_X0 : '<S17>/Memory'
366 */
367 65537.0 /* maxcount_Value : '<S17>/maxcount'
368 */
369 }
370 /* End of '<S13>/Subsystem' */
371 };
|
