?? dsfinal.txt
字號(hào):
#1
char Aclass(3,32)
Adymosim
1.4
Final state generated by Dymosim
# Experiment parameters
double experiment(7,1)
1 # StartTime Time at which integration starts
# (and linearization and trimming time)
2 # StopTime Time at which integration stops
0 # Increment Communication step size, if > 0
500 # nInterval Number of communication intervals, if > 0
1.000000000000000E-004 # Tolerance Relative precision of signals for
# simulation, linearization and trimming
0 # MaxFixedStep Maximum step size of fixed step size
# integrators, if > 0.0
8 # Algorithm Integration algorithm as integer (1...14)
#
# | model| | | dense | state |
# Algorithm | typ | stiff | order | output| event |
# ------------+------+-------+--------+-------+-------+
# 1 | deabm | ode | no | 1-12 | yes | no |
# 2 | lsode1 | ode | no | 1-12 | yes | no |
# 3 | lsode2 | ode | yes | 1-5 | yes | no |
# 4 | lsodar | ode | both |1-12,1-5| yes | yes |
# 5 | dopri5 | ode | no | 5 | no | no |
# 6 | dopri8 | ode | no | 8 | no | no |
# 7 | grk4t | ode | yes | 4 | no | no |
# 8 | dassl | dae | yes | 1-5 | yes | yes |
# 9 | odassl | hdae | yes | 1-5 | yes | yes |
# 10 | mexx | hdae | no | 2-24 | no | no |
# 11 | euler | ode | no | 1 | no | yes |
# 12 | rkfix2 | ode | no | 2 | no | yes |
# 13 | rkfix3 | ode | no | 3 | no | yes |
# 14 | rkfix4 | ode | no | 4 | no | yes |
# ---+--------+------+-------+--------+-------+-------+
# euler and rkfix have fixed stepsize.
# Method tuning parameters
double method(27,1)
1 # grid type of communication time grid, defined by
# = 1: equidistant points ("Increment/nInterval")
# = 2: vector of grid points ("tgrid")
# = 3: variable step integrator (automatically)
# = 4: model (call of "increment" in Dymola, e.g.
# incr=Time > 2 then 0 else 0.1
# dummy=increment(incr))
# = 5: hardware clock (functions "udstimerXXX")
# grid = 1,3 is stopped by "StopTime"
# grid = 2 is stopped by "tgrid(last)"
# grid = 4 runs forever (stopped by model)
# grid = 5 runs forever (stopped by udstimerRun)
1 # nt Use every NT time instant, if grid = 3
3 # dense 1/2/3 restart/step/interpolate GRID points
1 # evgrid 0/1 do not/save event points in comm. time grid
1 # evu 0/1 U-discontinuity does not/trigger events
0 # evuord U-discontinuity order to consider (0,1,...)
0 # error 0/1/2 One message/warning/error messages
0 # jac 0/1 Compute jacobian numerically/by BLOCKJ
0 # xd0c 0/1 Compute/set XD0
0 # f3 0/1 Ignore/use F3 of HDAE (= index 1)
0 # f4 0/1 Ignore/use F4 of HDAE (= index 2)
0 # f5 0/1 Ignore/use F5 of HDAE (= invar.)
0 # debug flags for debug information (1<<0 uses pdebug)
100 # pdebug priority of debug information (1...100)
0 # fmax Maximum number of evaluations of BLOCKF, if > 0
0 # ordmax Maximum allowed integration order, if > 0
0 # hmax Maximum absolute stepsize, if > 0
0 # hmin Minimum absolute stepsize, if > 0 (use with care!)
0 # h0 Stepsize to be attempted on first step, if > 0
2.000000000000000E-014 # teps Bound to check, if 2 equal time instants
1.000000000000000E-010 # eveps Hysteresis epsilon at event points
20 # eviter Maximum number of event iterations
1.000000000000000E-006 # delaym Minimum time increment in delay buffers
1 # fexcep 0/1 floating exception crashes/stops dymosim
1 # tscale clock-time = tscale*simulation-time, if grid = 5
# > 1: simulation too slow
# = 1: simulation-time = real-time
# < 1: simulation too fast
1 # shared type of process communication, if grid = 5
# = 0: no communication,(single process without clock)
# = 1: no communication (single process with clock)
# = 2: shared memory (multiple processes with clock)
2473 # memkey key to be used for shared memory, if shared = 2
# Output parameters
int settings(13,1)
0 # lprec 0/1 do not/store result data in double
1 # lx 0/1 do not/store x (state variables)
1 # lxd 0/1 do not/store xd (derivative of states)
1 # lu 0/1 do not/store u (input signals)
1 # ly 0/1 do not/store y (output signals)
0 # lz 0/1 do not/store z (indicator signals)
1 # lw 0/1 do not/store w (auxiliary signals)
1 # la 0/1 do not/store a (alias signals)
0 # lperf 0/1 do not/store performance indicators
0 # levent 0/1 do not/store event point
1 # lres 0/1 do not/store results on result file
0 # lshare 0/1 do not/store info data for shared memory on dsshare.txt
1 # lform 0/1 ASCII/Matlab-binary storage format of results
# (for simulation/linearization; not for trimming)
# Names of initial variables
char initialName(96,33)
r
m
motor.Vs.n.v
motor.Vs.inPort.n
motor.G.p.v
motor.G.p.i
motor.Ra.v
motor.Ra.n.v
motor.Ra.R
motor.La.v
motor.La.i
motor.La.der(i)
motor.La.L
motor.emf.k
motor.emf.v
motor.emf.n.v
motor.inPort.n
motor.Jm.phi
motor.Jm.der(phi)
motor.Jm.flange_a.tau
motor.Jm.J
motor.Jm.der(w)
gearbox.flange_a.tau
gearbox.flange_b.tau
gearbox.tau_support
gearbox.bearing.phi
gearbox.bearing.tau
gearbox.ratio
load.phi
load.der(phi)
load.flange_b.tau
load.J
load.w
load.der(w)
phiload.flange_a.tau
phiload.outPort.n
phiload.outPort.signal[1]
positionerror.n
positionerror.inPort1.n
positionerror.inPort2.n
positionerror.outPort.n
positionerror.outPort.signal[1]
controller.inPort.n
controller.outPort.n
controller.outPort.signal[1]
controller.y
controller.k
controller.Ti
controller.Td
controller.Nd
controller.P.k[1]
controller.P.inPort.n
controller.P.outPort.n
controller.P.outPort.signal[1]
controller.I.n
controller.I.inPort.n
controller.I.outPort.n
controller.I.outPort.signal[1]
controller.I.y[1]
controller.I.der(y[1])
controller.I.k[1]
controller.I.y0[1]
controller.D.n
controller.D.inPort.n
controller.D.outPort.n
controller.D.outPort.signal[1]
controller.D.y[1]
controller.D.k[1]
controller.D.T[1]
controller.D.x[1]
controller.D.der(x[1])
controller.D.p_k[1]
controller.D.p_T[1]
controller.Gain.k[1]
controller.Gain.inPort.n
controller.Gain.outPort.n
controller.Gain.outPort.signal[1]
controller.Add.k1
controller.Add.k2
controller.Add.k3
controller.Add.n
controller.Add.inPort1.n
controller.Add.inPort2.n
controller.Add.inPort3.n
controller.Add.outPort.n
controller.Add.outPort.signal[1]
Step1.nout
Step1.outPort.n
Step1.outPort.signal[1]
Step1.y[1]
Step1.offset[1]
Step1.startTime[1]
Step1.height[1]
Step1.p_height[1]
Step1.p_offset[1]
Step1.p_startTime[1]
double initialValue(96,6)
-1 5.000000000000000E-001 0 1.000000000000000E+100
1 312 # r
-1 80 0 1.000000000000000E+100
1 312 # m
-2 0 0 0
6 260 # motor.Vs.n.v
-2 1 0 0
6 262 # motor.Vs.inPort.n
-2 0 0 0
6 260 # motor.G.p.v
-2 0 0 0
6 420 # motor.G.p.i
-2 2.909030355063850E-003 0 0
6 288 # motor.Ra.v
-2 2.954894158334100E+000 0 0
6 292 # motor.Ra.n.v
-1 5.000000000000000E-001 0 1.000000000000000E+100
1 312 # motor.Ra.R
-2 4.687385678658895E-002 0 0
6 288 # motor.La.v
-2 5.818060710127701E-003 0 0
2 312 # motor.La.i
-2 9.365212986257767E-001 0 0
3 288 # motor.La.der(i)
-1 5.000000000000000E-002 0 0
1 312 # motor.La.L
-1 1 0 0
1 312 # motor.emf.k
-2 2.908020301547511E+000 0 0
6 288 # motor.emf.v
-2 0 0 0
6 260 # motor.emf.n.v
-2 1 0 0
6 262 # motor.inPort.n
-2 2.079573385033906E+000 0 0
6 288 # motor.Jm.phi
-2 2.908020301547511E+000 0 0
6 288 # motor.Jm.der(phi)
-2 5.818060710127701E-003 0 0
6 420 # motor.Jm.flange_a.tau
-1 1.000000000000000E-003 0 0
1 312 # motor.Jm.J
-2 2.909030355063850E+000 0 0
6 288 # motor.Jm.der(w)
-2 2.909030355063850E-003 0 0
6 420 # gearbox.flange_a.tau
-2 -2.909030355063850E-001 0 0
6 420 # gearbox.flange_b.tau
-2 2.879940051513212E-001 0 0
6 288 # gearbox.tau_support
-2 0 0 0
6 260 # gearbox.bearing.phi
-2 0 0 0
6 388 # gearbox.bearing.tau
-1 100 0 0
1 312 # gearbox.ratio
-2 2.079573385033906E-002 0 0
2 312 # load.phi
-2 2.908072875791264E-002 0 0
3 288 # load.der(phi)
-2 0 0 0
6 388 # load.flange_b.tau
-2 10 0 0
6 288 # load.J
-2 2.908020301547511E-002 0 0
2 312 # load.w
-2 2.904193417991803E-002 0 0
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