function ScriptFunction(choice)
%---------------------------------------------
%| The Digital Motion Control Demo |
%---------------------------------------------
%| A practical lesson in Model-Based Design. |
%| Prepared by: |
%| Paul Lambrechts, May, 2007 |
%| Copyright 2007, The MathWorks, Inc. |
%---------------------------------------------
%| Note: This demo is prepared with R2007a |
%---------------------------------------------
% test if xPC target software is available
target_true=1;
try
xpctargetping;
catch
target_true=0;
end
switch choice
case 0 % Initialization: Pro Memori as this is already done in StartDemo
clear('all');
close('all');
bdclose('all');
DMCdir=pwd;addpath([DMCdir,'\Utils'],[DMCdir,'\Model']);
cd('Model');
clc
disp('DMC Demo Initialized')
case 1 % Problem Formulation
evalin('base','clean_desk;')
cd('..\PF');
DMC_system_demo;
set_param([bdroot,'/Reference and Feedforward'],'BlockChoice','Rigid Body P2P GUI');
set_param([bdroot,'/Tunable Controller/Feedback Controller'],'BlockChoice','Preliminary');
set_param(bdroot,'StopTime','inf');
if target_true==1 && strcmp(xpctargetping,'success')
set_param([bdroot,'/Plant'],'BlockChoice','Rapid Prototyping');
set_param(bdroot,'simulationmode','external');
base_addresses('Rapid Prototyping');
ok=downloaddlm;
% Next line is a trick to make the feedforward a little less
% effective
% set_param([bdroot,'/Reference and Feedforward/Rigid Body P2P GUI/Gain'],'Gain','0.9');
if ok==1
disp('Click ''Connect to Target'' to open user interface');
end
else
set_param([bdroot,'/Plant'],'BlockChoice','Model');
set_param([bdroot,'/Plant/Model/Motion System'],'BlockChoice','Simulink Model with VR');
set_param(bdroot,'simulationmode','normal');
% Next line is a trick to make the feedforward a little less
% effective
set_param([bdroot,'/Reference and Feedforward/Rigid Body P2P GUI/Gain'],'Gain','0.9');
clc
disp('No target found: model used instead');
end
case 2 % Transfer Function Measurement
evalin('base','clean_desk;')
cd('..\TFM');
DMC_system_demo;
set_param([bdroot,'/Reference and Feedforward'],'BlockChoice','Noise Generator');
set_param(bdroot,'StopTime','20');
if target_true==1 && strcmp(xpctargetping,'success')
set_param([bdroot,'/Plant'],'BlockChoice','Black Box');
set_param(bdroot,'simulationmode','external');
base_addresses('Black Box');
downloaddlm;
else
set_param([bdroot,'/Plant'],'BlockChoice','Virtual Black Box');
set_param(bdroot,'simulationmode','normal');
disp('No target found: Virtual Black Box activated');
end
case 3 % Retrieve Data
cd('..\TFM');
evalin('base','Retrieve_Data')
case 4 % Plot Results
cd('..\TFM');
evalin('base','Calc_Hplant')
case 5 % System Identification
cd('..\TFM');
if evalin('base','~exist(''Hpm'')')
evalin('base','load measdat;')
disp('Measurement data loaded from file');
end;
ident
case 6 % Open Simulink Model (Identification)
cd('..\TFM');
if evalin('base','~exist(''sys'',''var'')')
evalin('base','load sysdata;')
disp('Identified system loaded from file');
end;
DMC_system_demo;
set_param([bdroot,'/Plant'],'BlockChoice','Identified Model');
set_param([bdroot,'/Reference and Feedforward'],'BlockChoice','Simple Step');
set_param(bdroot,'StopTime','2');
set_param(bdroot,'simulationmode','normal');
case 7 % First Principles modeling
evalin('base','clean_desk;')
cd('..\Model');
DMC_system_demo
case 8 % Parameter Estimation
evalin('base','clean_desk;')
cd('..\Model');
DMC_system_demo
set_param([bdroot,'/Reference and Feedforward'],'BlockChoice','Parameter Estimation');
evalin('base','load PE_data')
assignin('base','k',0.012);
assignin('base','b12',1e-6);
disp(sprintf('Parameters initialized for estimation: k=%g, b12=%g',evalin('base','k'),evalin('base','b12')));
case 9 % Control Design
evalin('base','clean_desk;')
cd('..\Model');
DMC_system_demo
case 10 % Rapid Prototyping
evalin('base','clean_desk;')
cd('..\RP');
DMC_system_demo;
% Change the following line to activate your own designed controller for RP
set_param([bdroot,'/Tunable Controller/Feedback Controller'],'BlockChoice','Tuned 10Hz');
set_param([bdroot,'/Reference and Feedforward'],'BlockChoice','Fourth Order P2P GUI');
set_param(bdroot,'StopTime','inf');
if target_true==1 && strcmp(xpctargetping,'success')
set_param([bdroot,'/Plant'],'BlockChoice','Rapid Prototyping');
set_param(bdroot,'simulationmode','external');
base_addresses('Rapid Prototyping');
ok=downloaddlm;
if ok==1
disp('Click ''Connect to Target'' to open user interface');
end
else
set_param([bdroot,'/Plant'],'BlockChoice','Model');
set_param([bdroot,'/Plant/Model/Motion System'],'BlockChoice','Simulink Model with VR');
set_param(bdroot,'simulationmode','normal');
disp('No target found: model used instead');
end
case 11 % Show measured response
evalin('base','Show_Response;')
case 12 % Show generated code
cd('..\RP');
if exist('.\DMC_system_demo_xpc_rtw\html\DMC_system_demo_codegen_rpt.html','file')
winopen('.\DMC_system_demo_xpc_rtw\html\DMC_system_demo_codegen_rpt.html')
else
disp('Code report not found')
end
case 13 % Open xPC Explorer
cd('..\RP');
xpcexplr
case 14 % View via Web Browser
evalin('base','clean_desk;')
cd('..\RP');
if target_true==1 && strcmp(xpctargetping,'success')
xpcwwwenable; web http://192.168.20.200:22222/ -browser;
else
disp('ERROR: no xPC target connected');
end
end
% End of ScriptFunction
function ok=downloaddlm
% Check if compiled target application file exists and download
if exist('.\DMC_system_demo.dlm','file')==2
tg=xpc;
tg.load('DMC_system_demo');
disp('Model downloaded, maybe you need to rebuild');
ok=1;
else
disp('Compiled target application file not found, build model before continuing');
ok=0;
end
function base_addresses(plant)
% Change base addresses of IO cards to values specified in DMC_parameters
maskvals = get_param([bdroot,'/Plant/',plant,'/D//A'],'MaskValues');
maskvals{6} = evalin('base','IO301_base;');
set_param([bdroot,'/Plant/',plant,'/D//A'],'MaskValues',maskvals)
for IOblock={'ENC2','ENC1'}
maskvals = get_param([bdroot,'/Plant/',plant,'/',IOblock{:}],'MaskValues');
maskvals{5} = evalin('base','IO306_base;');
set_param([bdroot,'/Plant/',plant,'/',IOblock{:}],'MaskValues',maskvals)
end
