measure the ROS loop time in simulink

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Nathaniel Goldfarb
Nathaniel Goldfarb 2021-5-30
评论： Nathaniel Goldfarb 2021-5-31
I am trying to figure out my control loop time in simulink for controlling my simulation using MATLAB 2021a.
I am using the loop control rate block found in these closed loop control example here
The comments say:
% The rate control may not be effective if the simulation model is too
% complex to be handled at the desired rate. To check the rate control
% performance, consider output rateObj.LastPeriod. Ideally it should be
% close to SampleTime during most part of the simulation.
How do I actually output/access the rateObj.LastPeriod in the model so I can make a historgram of the control rate?

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采纳的回答

Abhijeet Gadkari
Abhijeet Gadkari 2021-5-31
Hello Nathaniel,
The Simulation Rate Control block used in this example is a MATLAB System Object.
You can modify the stepImpl method of this system object class, ExampleHelperSimulationRateControl.m, to add an output argument as below.
function r = stepImpl(obj)
%stepImpl Regulates simulation update
if coder.target('MATLAB')
obj.RateObj.waitfor();
r = obj.RateObj.LastPeriod;
else
r = nan;
end
end
Save the ExampleHelperSimulationRateControl.m class and re-open the model.
You should now see an output port on the Simulation Rate Control block, as shown below.
-Abhijeet

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