Hi,
The ode45 function is used for solving ordinary differential equations (ODEs) and it is typically used for continuous-time models. However, the model given is a discrete-time model as it uses a time step (Tim_step) for updating the states.
For discrete-time models, you can use a simple loop to update the states at each time step. Here’s a basic example of how you can simulate your model in an open-loop fashion:
% Initial conditions
Position = 0;
Velocity = v0;
Torque = 0;
T_end = 10; % for example, simulate for 10 seconds
t = 0:Tim_step:T_end;
PositionN = zeros(size(t));
VelocityN = zeros(size(t));
TorqueN = zeros(size(t));
% Open-loop control input
u = 0; % for example, no control input
% Simulation loop
for i = 1:length(t)
[PositionN(i), VelocityN(i), TorqueN(i)] = traindiscretemodel(u,Tim_step,Position,Velocity,Torque,Mass(1),Ca_0(1),Ca_1(1),Ca_2(1),Tao(1),R(1),Eta);
Position = PositionN(i);
Velocity = VelocityN(i);
Torque = TorqueN(i);
end
plot(t, PositionN);
xlabel('Time (s)');
ylabel('Position');
This code will simulate the model for 10 seconds with no control input (u = 0). The simulation time and the control input can be adjusted as needed. Also, please make sure to use the correct parameters for your model. This is just a basic example and might need to be adjusted based on your specific needs.
Hope this helps!
