In Matlab's command window I obtained several equations which look like:
Tc1 = (- 2*J2*cos(t3)*sin(t1)*sin(t3)*n^2 + 2*J2*w3*sin(t3)*n)/cos(t2) - d2 + cos(t2)*(J2*cos(t3)*sin(t1)*sin(t3)*n^2 + J2*v3*sin(t1)) + J1*w1*w3 + J2*w1*w3 - J3*w1*w3 + J2*v2*cos(t1) + J2*n^2*cos(t1)*tan(t2) - J2*w2^2*cos(t1)*tan(t2) + 2*J2*w3^2*cos(t1)*tan(t2) + J2*w2^2*cos(t1)^3*tan(t2) - J2*w3^2*cos(t1)^3*tan(t2) - 2*J2*n*w2*cos(t3)*tan(t2) + 2*J2*w2*w3*sin(t1)*tan(t2) - J2*n^2*cos(t1)*cos(t3)^2*tan(t2) + 2*J2*n*w2*cos(t1)^2*cos(t3)*tan(t2) - 2*J2*w2*w3*cos(t1)^2*sin(t1)*tan(t2) - 2*J2*n*w3*cos(t1)*cos(t3)*sin(t1)*tan(t2)
In Simulink I use From and Goto blocks for all the parameters (Tc1, J1, J2, J3, t1, t2, t3 and so on).
Now I am wondering what the easiest way is to implement these long formulas in Simulink for a simulation. Normally I would just rebuild the equations using all kind of blocks in Simulink, but the equations I ended up with this time are much longer. Any ideas?
Fcn block from user-defined function and just write your function in one line and use inputs like u(1),u(2),....The Fcn block applies the specified mathematical expression to its input. The expression can include one or more of these components:
u — The input to the block. If u is a vector, u(i) represents
the i-th element of the vector; u(1) or u alone represents the
first element. + - * / ^). == != > < >= <=) — The
expression returns 1 if the relation is true; otherwise, it returns
0. && || !) — The expression returns 1
if the relation is true; otherwise, it returns 0. abs, acos, asin, atan, atan2,
ceil, cos, cosh, exp, fabs, floor, hypot, ln, log,
log10, pow, power, rem, sgn, sin, sinh, sqrt, tan,
and tanh.check this link
Matlab Function from user-defined function and write all the functions you have in an embedded m-file. and then connect all inputs and outputs to it.check this link