东北大学网络控制系统Truetime仿真.docVIP

东北大学网络控制系统Truetime仿真beta 1.执行器初始化文件actuator_init.m function actuator_init ttInitKernel(0,1,prioFP); deadline=100; prio=1; ttCreateTask(act_task,deadline,prio,actuatorcode); ttCreateInterruptHandler(nw_handler,prio,msgRcvActuator); ttInitNetwork(2,nw_handler); 2.执行器代码 actuatorcode.m function [exectime,data] = actuatorcode(seg,data) switch seg case 1, data.u = ttGetMsg; exectime = 0.0005; case 2, ttAnalogOut(1,data.u); exectime = -1; end 3.控制器初始化 controller_init.m function controller_init ttInitKernel (1,0,prioFP); period = 0.01; deadline = period; prio