/********************************************************************************
****?????????????????????名稱：Seeker仿真模塊???????????????????????????????*****?
****?????????????????????編寫：替補哥
****?????????????????????日期：2012年11月15日???????????????????????????????*****
****?????????????????修改日期：?????????????????????????????????????????????*****
*********************************************************************************/

#include?
#include?
#include?
#include?
#include?“Seekers.h“

#define?SKNS1?3?????//微分方程數
#define?SKNS??16????//所求變量數

extern?double?t_stepnow_time;???????????????????????//時間步長
extern	CSeekerModel?*pSKModel;
extern?int?SKFlage1SKFlage2;

const?double?RAD?=?57.3;
const?double?PI?=?3.1415926;

ofstream?SKFile（?“Seeker.txt“?）;
ofstream?MFile（?“motor.txt“?）;
ofstream?PIDFile（?“PID.txt“?）;
ofstream?SOFile（?“SecondOrder.txt“?）;

CSeekerModel?::CSeekerModel（?）
{
	//導引頭
	SKXS??=?new??double?[SKNS];?????//所求的變量
	SKdXS?=?new?double?[SKNS1];?????//方程右端

	SKXS[0]?=?0.0;		SKXS[3]?=?0.0;	
	SKXS[1]?=?0.0;???	SKXS[4]?=?0.0;	
	SKXS[2]?=?0.0;????	SKXS[5]?=?0.0;	
	SKXS[6]?=?0.0;???	SKXS[10]?=?0.0;	
	SKXS[7]?=?0.0;????	SKXS[11]?=?0.0;	
	SKXS[8]?=?0.0;????	SKXS[12]?=?0.0;	
	SKXS[9]?=?0.0;??????SKXS[13]?=?0.0;?
	SKXS[14]?=?0.0;?????SKXS[15]?=?0.0;?
/**/
	//電機環節
	motorXS??=?new??double?[2];?????//所求的變量
	motordXS?=?new?double?[2];?????//方程右端

????motor_IN?=?0.0;
	motorXS[0]?=?0.0?;??	motorXS[1]?=?0.0?;
	motordXS[0]??=?0.0?;	motordXS[1]?=?0.0?;?
	
	//PID環節
	PIDXS_TWO??=?new??double?[4];?????//所求的變量
	PIDdXS_TWO?=?new?double?[1];?????//方程右端
		
	PIDXS_TWO[0]?=?0.0;	???	PIDdXS_TWO[0]?=?0.0;	???
	PIDXS_TWO[1]?=?0.0;???
	PIDXS_TWO[2]?=?0.0;????
	PIDXS_TWO[3]?=?0.0;??

	PIDXS_ONE??=?new??double?[4];?????//所求的變量
	PIDdXS_ONE?=?new?double?[1];?????//方程右端
		
	PIDXS_ONE[0]?=?0.0;	???	PIDdXS_ONE[0]?=?0.0;	???
	PIDXS_ONE[1]?=?0.0;???
	PIDXS_ONE[2]?=?0.0;????
	PIDXS_ONE[3]?=?0.0;??

	//陀螺環節
	SOXS??=?new??double?[2];?????//所求的變量
	SOdXS?=?new?double?[2];?????//方程右端

????SO_IN?=?0.0;
	SOXS[0]?=?0.0?;??	SOXS[1]?=?0.0?;
	SOdXS[0]??=?0.0?;	SOdXS[1]?=?0.0?;?

	cout<}

CSeekerModel?::~CSeekerModel（）
{
	delete?[SKNS]????SKXS;
	delete?[SKNS1]???SKdXS;

	delete?[2]????motorXS;
	delete?[2]???motordXS;


	delete?[4]????PIDXS_ONE;
	delete?[1]???PIDdXS_ONE;
	delete?[4]????PIDXS_TWO;
	delete?[1]???PIDdXS_TWO;
	
	delete?[2]????SOXS;
	delete?[2]???SOdXS;

	cout<}
/***************設置導引頭參數***************************/

void?CSeekerModel?::?setParaments（）
{
	????KP1?=?5;KI1?=0?;KD1?=?0;
		KP2?=?8;KI2?=?10;KD2?=?0;
		motorTm?=?0.28;motorTd?=?0.002;
?????	gyroWf?=?140*PI;gyroKc?=?0.1;gyroKcf?=?0.7;
		LimitXF1?=?3.0;LimitXF2?=?26.0;LimitXF3?=?100.0;
?
		return;
}

/******************右端子函數************************/

void?CSeekerModel?::?SKdery（?double?*SKdSX?double?*SKXS?）
{
	????SKdXS

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????522??2012-11-19?19:53??Seekers\Seekers.dsw

?????文件??????66560??2012-11-23?19:44??Seekers\Debug\vc60.idb

?????文件??????77824??2012-11-23?19:44??Seekers\Debug\vc60.pdb

?????文件?????582656??2012-11-23?19:44??Seekers\Debug\Seekers.pdb

?????文件??????????0??2012-11-23?19:43??Seekers\Debug\Seekers.sbr

?????文件??????????0??2012-11-23?19:44??Seekers\Debug\Simulation.sbr

?????文件?????245833??2012-11-23?19:44??Seekers\Debug\Seekers.exe

?????文件?????140288??2012-11-23?19:44??Seekers\Debug\Seekers.bsc

?????文件?????286112??2012-11-23?19:44??Seekers\Debug\Seekers.ilk

?????文件??????37601??2012-11-23?19:43??Seekers\Debug\Seekers.obj

?????文件?????293552??2012-11-23?19:44??Seekers\Debug\Seekers.pch

?????文件???????5593??2012-11-23?19:44??Seekers\Debug\Simulation.obj

?????文件???????1087??2012-11-23?19:44??Seekers\Seekers.plg

?????文件??????58368??2012-11-23?20:23??Seekers\Seekers.ncb

?????文件???????4423??2012-11-19?22:34??Seekers\Seekers.dsp

?????文件???????2155??2012-11-20?11:27??Seekers\Seekers.h

?????文件??????12935??2013-05-04?11:38??Seekers\Seekers.cpp

?????文件????????639??2012-11-23?20:23??Seekers\Simulation.cpp

?????文件??????48640??2012-11-23?20:23??Seekers\Seekers.opt

?????目錄??????????0??2012-11-19?19:53??Seekers\Debug

?????目錄??????????0??2012-11-19?19:53??Seekers

?????文件?????400896??2012-11-13?17:11??導引頭模型說明1.doc

-----------?---------??----------?-----??----

??????????????2265684????????????????????22