measure the ROS loop time in simulink
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Nathaniel Goldfarb on 30 May 2021
I am trying to figure out my control loop time in simulink for controlling my simulation using MATLAB 2021a.
I am using the loop control rate block found in these closed loop control example here
The comments say:
% The rate control may not be effective if the simulation model is too
% complex to be handled at the desired rate. To check the rate control
% performance, consider output rateObj.LastPeriod. Ideally it should be
% close to SampleTime during most part of the simulation.
How do I actually output/access the rateObj.LastPeriod in the model so I can make a historgram of the control rate?
Abhijeet Gadkari on 31 May 2021
You can modify the stepImpl method of this system object class, ExampleHelperSimulationRateControl.m, to add an output argument as below.
function r = stepImpl(obj)
%stepImpl Regulates simulation update
r = obj.RateObj.LastPeriod;
r = nan;
Save the ExampleHelperSimulationRateControl.m class and re-open the model.
You should now see an output port on the Simulation Rate Control block, as shown below.