{"id":5644,"date":"2022-04-27T10:00:17","date_gmt":"2022-04-27T01:00:17","guid":{"rendered":"https:\/\/blogs.mathworks.com\/japan-community\/?p=5644"},"modified":"2022-04-26T09:28:42","modified_gmt":"2022-04-26T00:28:42","slug":"simulink-test-driven-modeling","status":"publish","type":"post","link":"https:\/\/blogs.mathworks.com\/japan-community\/2022\/04\/27\/simulink-test-driven-modeling\/","title":{"rendered":"Simulink Test \u306b\u3088\u308b\u30c6\u30b9\u30c8\u99c6\u52d5\u30e2\u30c7\u30ea\u30f3\u30b0\u306e\u3059\u3059\u3081"},"content":{"rendered":"<p>\u672c\u65e5\u306f\uff0c\u3044\u307e\u3084 &#8220;Simulink \u306e\u4e2d\u306e\u4eba&#8221; \u3068\u3057\u3066\u7206\u767a\u7684\u306a\u4eba\u6c17\u3092\u8a87\u308b toshi \u3055\u3093\u3088\u308a Simulink Test \u306b\u3064\u3044\u3066\u306e\u8a18\u4e8b\u3067\u3059\uff0e\u30cf\u30f3\u30ba\u30aa\u30f3\u5f62\u5f0f\u306a\u306e\u3067\u7686\u3055\u3093\u3082\u4e00\u7dd2\u306b\u624b\u3092\u52d5\u304b\u3057\u306a\u304c\u3089\u8aad\u3093\u3067\u307f\u3066\u304f\u3060\u3055\u3044\uff0e<\/p>\n<hr>\n<p>\u3053\u3093\u306b\u3061\u306f\u3002<a href=\"https:\/\/twitter.com\/toshi34780378\" target=\"_blank\" rel=\"noopener nofollow\" class=\"external\"><span class=\"css-901oao css-16my406 r-poiln3 r-bcqeeo r-qvutc0\">toshi | Simulink \u306e\u4e2d\u306e\u4eba<\/span><\/a>\u3067\u3059\u3002<\/p>\n<p>\u7686\u3055\u3093\u3001Simulink \u3067\u30e2\u30c7\u30eb\u3092\u4f5c\u3063\u3066\u307e\u3059\u3067\u3057\u3087\u3046\u304b\uff1f \u6700\u8fd1\u306f Twitter \u3084 YouTube \u306a\u3069\u3067 Simulink \u306e\u4fbf\u5229\u6a5f\u80fd\u3092\u305f\u304f\u3055\u3093\u7d39\u4ecb\u3057\u3066\u3044\u308b\u306e\u3067\u3059\u304c\u3001\u4eca\u56de\u306f\u305d\u306e\u4e2d\u3067\u3082\u3001\u9593\u9055\u3044\u306a\u304f\u696d\u52d9\u52b9\u7387\u3068\u6210\u679c\u7269\u54c1\u8cea\u306e\u5411\u4e0a\u306b\u7e4b\u304c\u308b\u3001\u3068\u3063\u3066\u304a\u304d\u306e\u30c6\u30af\u30cb\u30c3\u30af\u3092\u7d39\u4ecb\u3057\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<p>\u3053\u306e\u30c6\u30af\u30cb\u30c3\u30af\u3092\u8eab\u306b\u7740\u3051\u305f\u6642\u3001\u3042\u306a\u305f\u306f Simulink \u306e\u771f\u306e\u4fa1\u5024\u3092\u7406\u89e3\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\ud83d\ude0e<\/p>\n<p>&nbsp;<\/p>\n<h2>\u76ee\u6b21<\/h2>\n<p><a href=\"#Simulink_Test\">1. Simulink Test \u3068\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9<\/a><br \/>\n<a href=\"#prepare\">2. \u6e96\u5099<\/a><br \/>\n<a href=\"#test_driven\">3. \u30c6\u30b9\u30c8\u99c6\u52d5\u30e2\u30c7\u30ea\u30f3\u30b0\u3092\u4f53\u9a13<\/a><br \/>\n<a href=\"#create_test_harness\">\u00a0 \u00a0 3.1. \u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306b\u5bfe\u3057\u3066\u4f5c\u6210\u3059\u308b<\/a><br \/>\n<a href=\"#create_and_run\">\u00a0 \u00a0 3.2. \u5b9f\u884c\u3057\u306a\u304c\u3089\u4f5c\u308b<\/a><br \/>\n<a href=\"#check_block_function\">\u00a0 \u00a0 3.3. \u30d6\u30ed\u30c3\u30af\u306e\u6a5f\u80fd\u3092\u8abf\u3079\u308b<\/a><br \/>\n<a href=\"#finish_modeling\">\u00a0 \u00a0 3.4. \u6a5f\u80fd\u3092\u5b8c\u6210\u3055\u305b\u308b<\/a><br \/>\n<a href=\"#conclusion\">4. \u307e\u3068\u3081<\/a><\/p>\n<p>&nbsp;<\/p>\n<h1 id=\"Simulink_Test\">1. Simulink Test \u3068\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9<\/h1>\n<p><a href=\"https:\/\/www.mathworks.com\/products\/simulink-test.html\" target=\"_blank\" rel=\"noopener\">Simulink Test<\/a> \u3068\u306f\u3001Simulink \u3092\u4f7f\u3063\u3066\u69cb\u7bc9\u3057\u305f\u30e2\u30c7\u30eb\u3092\u30c6\u30b9\u30c8\u3059\u308b\u969b\u306b\u3001\u305d\u306e\u696d\u52d9\u3092\u52b9\u7387\u5316\u3059\u308b\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>Simulink Test \u306b\u306f\u305f\u304f\u3055\u3093\u306e\u6a5f\u80fd\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u305d\u306e\u4e2d\u3067\u3082\u4eca\u56de\u306f\u300c\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u300d\u3068\u3044\u3046\u6a5f\u80fd\u3092\u7d39\u4ecb\u3057\u307e\u3059\u3002\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u306f\u3001\u30e2\u30c7\u30eb\u3084\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306b\u5bfe\u3057\u3066\u300c\u30c6\u30b9\u30c8\u3092\u884c\u3046\u305f\u3081\u306e\u72ec\u7acb\u3057\u305f\u30e2\u30c7\u30eb\u30d5\u30a1\u30a4\u30eb\u300d\u3092\u4f5c\u308a\u3001\u305d\u308c\u3092\u7ba1\u7406\u3059\u308b\u6a5f\u80fd\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>Simulink Test \u306f\u3001\u6b8b\u5ff5\u306a\u304c\u3089 Home \u30e9\u30a4\u30bb\u30f3\u30b9\u306b\u306f\u5165\u3063\u3066\u304a\u3089\u305a\u3001\u4e3b\u306b\u4f01\u696d\u306e\u91cf\u7523\u958b\u767a\u90e8\u7f72\u3067\u4f7f\u308f\u308c\u3066\u304a\u308a\u60c5\u5831\u304c\u8868\u306b\u51fa\u306b\u304f\u3044(?)\u305f\u3081\u3001\u3054\u5b58\u77e5\u306a\u3044\u65b9\u3082\u591a\u3044\u306e\u3067\u306f\u306a\u3044\u3067\u3057\u3087\u3046\u304b\u3002\u5b9f\u306f\u3053\u306e Simulink Test \u306f\u3001Stateflow, Simscape \u3068\u4e26\u3076\u3001Simulink \u306b\u5fc5\u9808\u306e\u6c4e\u7528\u6a5f\u80fd\u62e1\u5f35\u30c4\u30fc\u30eb\u306a\u306e\u3067\u3059\u3002<\/p>\n<p>\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f7f\u3046\u3068\u3001Simulink \u30e2\u30c7\u30eb\u3092\u90e8\u5206\u3054\u3068\u306b\u72ec\u7acb\u3057\u3066\u5b9f\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002\u305d\u308c\u306b\u3088\u308a\u3001\u3061\u3087\u3063\u3068\u4f5c\u3063\u3066\u306f\u5b9f\u884c\u3057\u3066\u78ba\u8a8d\u3057\u3001\u4fee\u6b63\u3057\u3066\u306f\u5b9f\u884c\u3057\u3066\u78ba\u8a8d\u3057\u3001\u3092\u7e70\u308a\u8fd4\u3057\u3066\u6a5f\u80fd\u3092\u69cb\u7bc9\u3057\u3066\u3044\u304f\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u306e\u30e2\u30c7\u30ea\u30f3\u30b0\u624b\u6cd5\u3092\u3053\u3053\u3067\u306f\u300c\u30c6\u30b9\u30c8\u99c6\u52d5\u30e2\u30c7\u30ea\u30f3\u30b0\u300d\u3068\u547c\u3093\u3067\u3044\u307e\u3059\uff08\u79c1\u306e\u9020\u8a9e\u3067\u3059\uff09\u3002<\/p>\n<p>\u3053\u308c\u306e\u5a01\u529b\u306f\u3001\u4f53\u611f\u3057\u305f\u4eba\u3067\u306a\u3044\u3068\u5206\u304b\u3089\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u306e\u3067\u3001\u4eca\u56de\u306f\u3001\u305d\u306e\u30ef\u30fc\u30af\u30d5\u30ed\u30fc\u3092\u521d\u5fc3\u8005\u306e\u65b9\u306b\u3082\u5206\u304b\u308a\u3084\u3059\u304f\u3001\u4e8b\u4f8b\u3092\u4ea4\u3048\u3066\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1 id=\"prepare\">2. \u6e96\u5099<\/h1>\n<p>\u4eca\u56de\u306f\u305b\u3063\u304b\u304f\u306a\u306e\u3067\u3001\u7686\u3055\u3093\u306b\u3082\u624b\u3092\u52d5\u304b\u3057\u3066\u4f53\u9a13\u3057\u3066\u3044\u305f\u3060\u3053\u3046\u3068\u601d\u3044\u3001\u30b3\u30f3\u30c6\u30f3\u30c4\u3092\u7528\u610f\u3057\u3066\u3044\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4f53\u9a13\u3057\u3066\u3044\u305f\u3060\u304f\u305f\u3081\u306b\u306f\u4ee5\u4e0b\u306e\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\u3002\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u304c\u306a\u3044\u3001\u3082\u3057\u304f\u306f\u8aad\u3080\u3060\u3051\u3067\u3044\u3044\u3088\u3001\u3068\u3044\u3046\u4eba\u306f\u3001<a href=\"#test_driven\">3. \u30c6\u30b9\u30c8\u99c6\u52d5\u30e2\u30c7\u30ea\u30f3\u30b0\u3092\u4f53\u9a13<\/a>\u306b\u98db\u3093\u3067\u304f\u3060\u3055\u3063\u3066\u5927\u4e08\u592b\u3067\u3059\u3002<\/p>\n<p>\u30d0\u30fc\u30b8\u30e7\u30f3\uff1aR2022a<\/p>\n<p>\u5fc5\u8981\u306a\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\uff1aMATLAB, Simulink, Stateflow, Simscape, Simscape Multibody, Control System Toolbox, Model Predictive Control Toolbox, Simulink Test<\/p>\n<p>&nbsp;<\/p>\n<h2>2.1. \u30ab\u30b9\u30bf\u30e0\u30bf\u30d6\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u6709\u52b9\u5316<\/h2>\n<p>GitHub\u306b\u3042\u308b\u3001<a href=\"https:\/\/github.com\/mathworks\/customTab-accelerate-your-work.git\" target=\"_blank\" rel=\"noopener nofollow\" class=\"external\">\u30ab\u30b9\u30bf\u30e0\u30bf\u30d6\u3092\u7528\u3044\u305f Simulink \u306e\u30e2\u30c7\u30ea\u30f3\u30b0\u696d\u52d9\u52b9\u7387\u5411\u4e0a<\/a>\u3068\u3044\u3046\u30c7\u30e2\u30e2\u30c7\u30eb\u3092\u30af\u30ed\u30fc\u30f3\u3001\u3082\u3057\u304f\u306f\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>ReadMe\u306b\u66f8\u304b\u308c\u3066\u3044\u308b\u6307\u793a\u306b\u5f93\u3063\u3066\u3001\u30ab\u30b9\u30bf\u30e0\u30bf\u30d6\u3092\u6709\u52b9\u5316\u3057\u3066\u304f\u3060\u3055\u3044\u3002Simulink\u30e2\u30c7\u30eb\u3092\u958b\u3044\u305f\u6642\u306b\u300cACCEL\u300d\u3068\u3044\u3046\u30bf\u30d6\u304c\u8868\u793a\u3055\u308c\u3066\u3044\u308c\u3070OK\u3067\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" width=\"648\" height=\"59\" class=\"aligncenter size-full wp-image-5743\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/img_accel_tab_in_simulink.png\" alt=\"\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2>2.2. \u300c\u30aa\u30f3\u30e9\u30a4\u30f3\u63a8\u5b9a\u30e2\u30c7\u30eb\u3092\u5229\u7528\u3057\u305f\u9069\u5fdcMP\u200bC\u306e\u8a2d\u8a08\u300d\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u958b\u304f<\/h2>\n<p>GitHub\u306b\u3042\u308b\u3001<a href=\"https:\/\/github.com\/mathworks\/balancing-ball-control-with-adaptive-mpc-using-online-model-estimation\" target=\"_blank\" rel=\"noopener nofollow\" class=\"external\">\u30aa\u30f3\u30e9\u30a4\u30f3\u63a8\u5b9a\u30e2\u30c7\u30eb\u3092\u5229\u7528\u3057\u305f\u9069\u5fdcMP\u200bC\u306e\u8a2d\u8a08<\/a>\u3068\u3044\u3046\u30c7\u30e2\u30e2\u30c7\u30eb\u3092\u30af\u30ed\u30fc\u30f3\u3001\u3082\u3057\u304f\u306f\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u300crls_mpc_ball_control.prj\u300d\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af\u3057\u3066\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002\u305d\u306e\u5f8c\u3001\u81ea\u52d5\u7684\u306b\u958b\u304b\u308c\u308b\u300cRLS_MPC_index.mlx\u300d\u306b\u3066\u3001\u300c\u9069\u5fdcMPC\u306b\u3088\u308b\u8ecc\u9053\u8ffd\u5f93\u5236\u5fa1\u300d\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5749\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/RLS_MPC_index_select.png\" alt=\"\" width=\"437\" height=\"192\" \/><\/p>\n<p>\u958b\u3044\u305f\u300cdesign_trajectory_control_MPC.mlx\u300d\u306e14\u884c\u76ee\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u307e\u3059\uff08Ctrl + R\u3067\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3067\u304d\u307e\u3059\uff09\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5752\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/design_trajectory_control_MPC_14.png\" alt=\"\" width=\"794\" height=\"145\" \/><\/p>\n<p>\u305d\u306e\u5f8c\u3001\u30e9\u30a4\u30d6\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002\u9014\u4e2d\u3001Mechanics Explorer \u304c\u958b\u3044\u3066\u30dc\u30fc\u30eb\u304c\u304f\u308b\u304f\u308b\u3057\u3066\u3044\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u7d42\u308f\u308b\u307e\u3067\u5f85\u3061\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5761\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/Mechanics_Explorer_circle_move.png\" alt=\"\" width=\"632\" height=\"379\" \/><\/p>\n<p>\u5b9f\u884c\u5b8c\u4e86\u5f8c\u3001\u300cBallAndPlate_AMPC_Controller.slx\u300d\u3092\u958b\u304d\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u3088\u3046\u306b2\u884c\u76ee\u306e\u6587\u5b57\u3092\u53f3\u30af\u30ea\u30c3\u30af\u3057\u3001\u300c&#8221;~~&#8221;\u3092\u958b\u304f\u300d\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u7d20\u65e9\u304f\u958b\u304f\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5770\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/BallAndPlate_AMPC_Controller_open_controller_model-1.png\" alt=\"\" width=\"554\" height=\"234\" \/><\/p>\n<p>\u6700\u5f8c\u306b\u3001\u300cRLS_offset_free\u300d\u3068\u3044\u3046\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u524a\u9664\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5773\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/BallAndPlate_AMPC_Controller_delete_block.png\" alt=\"\" width=\"855\" height=\"469\" \/><\/p>\n<p>\u3053\u306e\u72b6\u614b\u3067\u30e2\u30c7\u30eb\u3092\u4fdd\u5b58\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1 id=\"test_driven\">3. \u30c6\u30b9\u30c8\u99c6\u52d5\u30e2\u30c7\u30ea\u30f3\u30b0\u3092\u4f53\u9a13<\/h1>\n<p>\u4eca\u3001\u53f0\u306e\u4e0a\u306b\u4e57\u3063\u305f\u30dc\u30fc\u30eb\u306eXY\u4f4d\u7f6e\u5236\u5fa1\u3092\u3001\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\uff08MPC\uff09\u3067\u8a2d\u8a08\u3057\u3001Simulink \u30e2\u30c7\u30eb\u306b\u5b9f\u88c5\u3057\u3066\u3044\u307e\u3059\u3002\u5186\u3092\u63cf\u304f\u8ecc\u9053\u3092\u6307\u4ee4\u5024\u3068\u3057\u3066\u4e0e\u3048\u3001\u305d\u308c\u306b\u8ffd\u5f93\u3055\u305b\u3088\u3046\u3068\u3057\u3066\u3044\u307e\u3059\u3002\u3068\u3053\u308d\u304c\u3001\u4ee5\u4e0b\u306e\u30d7\u30ed\u30c3\u30c8\u306e\u3088\u3046\u306b\u3001\u6307\u4ee4\u5024\u306b\u5bfe\u3057\u3066\u30aa\u30d5\u30bb\u30c3\u30c8\u304c\u751f\u3058\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5779\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/SDI_circle_offset_exists.png\" alt=\"\" width=\"721\" height=\"668\" \/><\/p>\n<p>\u3053\u3053\u3067\u3001\u300cpos\u300d\u306f\u30dc\u30fc\u30eb\u306e\u4f4d\u7f6e\uff08\u5236\u5fa1\u91cf\uff09\u3001\u300cref\u300d\u306f\u6307\u4ee4\u5024\u3001\u300cangle\u300d\u306fMPC\u304c\u51fa\u529b\u3059\u308b\u64cd\u4f5c\u91cf\u3067\u3059\u3002\u4e00\u756a\u4e0a\u306e\u6ce2\u5f62\u306fXY\u30d7\u30ed\u30c3\u30c8\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u3067\u306f\u3053\u3053\u304b\u3089\u3001\u3053\u306e\u30aa\u30d5\u30bb\u30c3\u30c8\u3092\u9664\u53bb\u3059\u308b\u51e6\u7406\u3092\u69cb\u7bc9\u3057\u3088\u3046\u3068\u601d\u3044\u307e\u3059\u3002\u300cpos\u300d\u306f\u300cref\u300d\u306b\u6bd4\u4f8b\u3057\u3066\u5897\u6e1b\u3059\u308b\u3053\u3068\u304c\u5206\u304b\u3063\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u300cref\u300d\u3092\u8ffd\u52a0\u3067\u5897\u6e1b\u3055\u305b\u308b\u3053\u3068\u306b\u3088\u3063\u3066\u300cpos\u300d\u3092\u300cref\u300d\u306b\u4e00\u81f4\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3068\u8003\u3048\u3089\u308c\u307e\u3059\u3002\u4f5c\u308d\u3046\u3068\u3057\u3066\u3044\u308b\u6a5f\u80fd\u306f\u3056\u3063\u304f\u308a\u8a00\u3063\u3066\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u611f\u3058\u3067\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5864\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/offset_free_MPC_reference_graph.png\" alt=\"\" width=\"729\" height=\"374\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"create_test_harness\">3.1. \u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306b\u5bfe\u3057\u3066\u4f5c\u6210\u3059\u308b<\/h2>\n<p>\u3067\u306f\u65e9\u901f\u4f5c\u3063\u3066\u3044\u304d\u307e\u3057\u3087\u3046\u3002\u300cBallAndPlate_AMPC_Controller.slx\u300d\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u8ffd\u52a0\u3057\u3001\u30dd\u30fc\u30c8\u3092\u4f5c\u6210\u3057\u3001\u7e4b\u304e\u307e\u3059\u3002\u540d\u524d\u3092\u300coffset_free\u300d\u3068\u4ed8\u3051\u307e\u3057\u305f\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5816\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/AMPC_subsystem_offset_free_.png\" alt=\"\" width=\"634\" height=\"312\" \/><\/p>\n<p>\u3068\u3053\u308d\u3067\u3001\u3053\u306e\u72b6\u614b\u3067\u306f\u3053\u306e offset_free \u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u52d5\u4f5c\u78ba\u8a8d\u3059\u308b\u969b\u306b\u3001\u30e2\u30c7\u30eb\u5168\u4f53\u3092\u5b9f\u884c\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u3067\u3059\u3088\u306d\u3002<a href=\"#prepare\">2. \u6e96\u5099<\/a>\u3092\u884c\u3063\u305f\u65b9\u306f\u5206\u304b\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u30e2\u30c7\u30eb\u5168\u4f53\u306e\u5b9f\u884c\u306b\u306f\u305d\u308c\u306a\u308a\u306b\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\u3002\u52d5\u4f5c\u3092\u78ba\u304b\u3081\u308b\u305f\u3081\u306b\u4f55\u5ea6\u3082\u5b9f\u884c\u3057\u305f\u304f\u306a\u3044\u3067\u3059\u3088\u306d\uff1f \u305d\u3046\u3067\u3042\u308c\u3070\u3001\u53d6\u308b\u624b\u6bb5\u306f\u4ee5\u4e0b\u306e\u3069\u3061\u3089\u304b\u3067\u3059\u3002<\/p>\n<ol>\n<li>\u30e2\u30c7\u30eb\u3092\u5b9f\u884c\u305b\u305a\u306b\u6a5f\u80fd\u3092\u6700\u5f8c\u307e\u3067\u4f5c\u308a\u304d\u308b\u3002\u305d\u306e\u5f8c\u5b9f\u884c\u3057\u3066\u78ba\u304b\u3081\u308b\u3002<\/li>\n<li>offset_free \u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u5225\u30d5\u30a1\u30a4\u30eb\u306b\u6301\u3063\u3066\u3044\u304d\u3001\u305d\u3053\u3067\u9069\u5f53\u306a\u5165\u529b\u3092\u5165\u308c\u3066\u5b9f\u884c\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u4f5c\u308b\u3002<\/li>\n<\/ol>\n<p>1\u756a\u306f\u3068\u3066\u3082\u826f\u304f\u306a\u3044\u3067\u3059\u3002\u4f5c\u308a\u304d\u3063\u305f\u5f8c\u306b\u5b9f\u884c\u3057\u3066\u3001\u4f55\u304b\u306e\u9593\u9055\u3044\u306b\u6c17\u3065\u3044\u3066\u3082\u3001\u4fee\u6b63\u7b87\u6240\u306e\u7279\u5b9a\u306b\u6642\u9593\u304c\u304b\u304b\u308b\u3053\u3068\u304c\u3088\u304f\u3042\u308a\u307e\u3059\u30022\u756a\u306f\u826f\u3044\u306e\u3067\u3059\u304c\u3001\u3044\u3061\u3044\u3061\u30c6\u30b9\u30c8\u7528\u306e\u74b0\u5883\u3092\u4f5c\u308b\u306e\u304c\u624b\u9593\u3067\u3059\u306d\u3002\u591a\u304f\u306e\u4eba\u304c\u5104\u52ab\u306b\u306a\u3063\u3066\u907f\u3051\u3066\u3057\u307e\u3046\u3053\u3068\u3060\u3068\u601d\u3044\u307e\u3059\u3002\u305d\u3053\u3067\u00a0 Simulink Test \u306e\u51fa\u756a\u3067\u3059\u3002\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f7f\u3048\u3070\u3001\u3053\u306e2\u756a\u3067\u884c\u3046\u5b9a\u578b\u4f5c\u696d\u3092\u6975\u9650\u306b\u307e\u3067\u5c11\u306a\u304f\u3067\u304d\u308b\u306e\u3067\u3059\u3002\u305d\u306e\u305f\u3081\u306e\u62e1\u5f35\u30c4\u30fc\u30eb\u3068\u3057\u3066\u3001\u30ab\u30b9\u30bf\u30e0\u30bf\u30d6\u3092\u5c0e\u5165\u3057\u307e\u3057\u305f\u306e\u3067\u3001\u305d\u308c\u3092\u99c6\u4f7f\u3057\u3066\u9032\u3081\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>offset_free \u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u9078\u629e\u3057\u3001ACCEL\u30bf\u30d6\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u300c\u4f5c\u6210 \/ \u958b\u304f\u300d\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5819\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/create_test_harness_with_customtab.png\" alt=\"\" width=\"667\" height=\"420\" \/><\/p>\n<p>\u3053\u308c\u306b\u3088\u308a\u3001\u81ea\u52d5\u7684\u306b\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u304c\u4f5c\u6210\u3055\u308c\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5822\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/test_harness_automatically_created.png\" alt=\"\" width=\"620\" height=\"474\" \/><\/p>\n<p>\u3053\u306e\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u306f\u3001\u5143\u306e\u30e2\u30c7\u30eb\u3068\u306f\u72ec\u7acb\u3057\u305f\u30e2\u30c7\u30eb\u30d5\u30a1\u30a4\u30eb\u306b\u306a\u3063\u3066\u304a\u308a\u3001\u5bfe\u8c61\u306e\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306b\u30c6\u30b9\u30c8\u4fe1\u53f7\u3092\u5165\u529b\u3057\u3066\u5b9f\u884c\u3059\u308b\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3092\u5099\u3048\u3066\u3044\u307e\u3059\u3002\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u306f\u5143\u306e\u30e2\u30c7\u30eb\u30d5\u30a1\u30a4\u30eb\u306e\u4e2d\u306b\u4fdd\u5b58\u3055\u308c\u3066\u304a\u308a\u3001\u6d88\u3055\u306a\u3044\u9650\u308a\u6b8b\u308a\u7d9a\u3051\u307e\u3059\u3002\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u4e0a\u3067\u5bfe\u8c61\u306e\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306e\u5185\u90e8\u3092\u5909\u66f4\u3059\u308b\u3068\u3001\u5143\u306e\u30e2\u30c7\u30eb\u306e\u65b9\u306b\u3082\u81ea\u52d5\u7684\u306b\u53cd\u6620\u3055\u308c\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5858\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/test_harness_structure.png\" alt=\"\" width=\"627\" height=\"429\" \/><\/p>\n<p>\u3067\u306f\u3001\u3053\u306e\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f7f\u3063\u3066\u30e2\u30c7\u30eb\u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u4ee5\u964d\u306f\u3001\u5168\u90e8\u306e\u4f5c\u696d\u3092\u8aac\u660e\u3059\u308b\u3068\u9577\u304f\u306a\u308a\u307e\u3059\u306e\u3067\u3001\u30dd\u30a4\u30f3\u30c8\u3092\u7d5e\u3063\u3066\u89e3\u8aac\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"create_and_run\">3.2. \u5b9f\u884c\u3057\u306a\u304c\u3089\u4f5c\u308b<\/h2>\n<p>\u6307\u4ee4\u5024\u3068\u5236\u5fa1\u91cf\u306e\u5dee\u5206\u3092\u8a08\u7b97\u3059\u308b\u6a5f\u80fd\u3092\u4f5c\u308a\u307e\u3059\u3002\u305d\u308c\u305e\u308cXY\u4f4d\u7f6e\u306e\u30d9\u30af\u30c8\u30eb\u3067\u3042\u308b\u305f\u3081\u3001\u30d9\u30af\u30c8\u30eb\u540c\u58eb\u306e\u5927\u304d\u3055\u306e\u5dee\u3092\u53d6\u308a\u307e\u3059\u3002&#8221;Dot Product&#8221; \u30d6\u30ed\u30c3\u30af\u3092\u4f7f\u3046\u3068\u5185\u7a4d\u3092\u8a08\u7b97\u3067\u304d\u308b\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-6155\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/calc_vector_diff_with_dot_product_block_.png\" alt=\"\" width=\"616\" height=\"266\" \/><\/p>\n<p>\u3053\u306e\u6642\u70b9\u3067\u3001\u6b63\u3057\u304f\u8a08\u7b97\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002\u4e0a\u306e\u968e\u5c64\uff08offset_free_harness\uff09\u306b\u623b\u308a\u3001\u30c6\u30b9\u30c8\u7528\u306e\u5165\u529b\u4fe1\u53f7\u3092\u5165\u308c\u3066\u307f\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-6167\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/test_calc_vector_diff_with_dot_product_block_.png\" alt=\"\" width=\"1015\" height=\"204\" \/><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/latex.codecogs.com\/gif.latex?{\\left(2^2+3^2\\right)}-{\\left(2^2+2^2\\right)}=5\" \/>\u3000\u3068\u3044\u3046\u3053\u3068\u3067\u3001\u5408\u3063\u3066\u307e\u3059\u306d\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"check_block_function\">3.3. \u30d6\u30ed\u30c3\u30af\u306e\u6a5f\u80fd\u3092\u8abf\u3079\u308b<\/h2>\n<p>\u7d9a\u3051\u3066\u30e2\u30c7\u30ea\u30f3\u30b0\u3092\u3057\u3066\u3044\u304d\u307e\u3059\u3002\u6b21\u306b\u3053\u306e\u5dee\u5206\u3092\u7a4d\u5206\u3057\u305f\u3044\u3068\u601d\u3063\u3066\u3044\u307e\u3059\u3002\u3053\u306e\u6642 &#8220;Discrete-Time Integrator&#8221; \u3068\u3044\u3046\u30d6\u30ed\u30c3\u30af\u304c\u4f7f\u3048\u305d\u3046\u3067\u3059\u3002\u3053\u3053\u3067\u3075\u3068\u300c\u3053\u306e\u30d6\u30ed\u30c3\u30af\u306f\u672c\u5f53\u306b\u601d\u3063\u305f\u901a\u308a\u52d5\u3044\u3066\u304f\u308c\u308b\u306e\u3060\u308d\u3046\u304b\u300d\u3068\u601d\u3063\u305f\u3053\u3068\u306f\u306a\u3044\u3067\u3057\u3087\u3046\u304b\uff1f \u79c1\u306f Simulink \u30de\u30b9\u30bf\u30fc\u306a\u306e\u3067\u3001\u3082\u3061\u308d\u3093 &#8220;Discrete-Time Integrator&#8221; \u306e\u7279\u6027\u306f\u719f\u77e5\u3057\u3066\u3044\u308b\u306e\u3067\u3059\u304c\u3001\u7686\u3055\u3093\u306e\u4e2d\u306b\u306f\u521d\u3081\u3066\u306e\u4eba\u3082\u3044\u308b\u3068\u601d\u3044\u307e\u3059\u3002\u305d\u3093\u306a\u6642\u306b\u3082\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f7f\u3044\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>R2022a\u6642\u70b9\u3067\u306f\u3001\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u306f1\u500b\u306e\u30d6\u30ed\u30c3\u30af\u306b\u5bfe\u3057\u3066\u4f5c\u6210\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044\u306e\u3067\u3001\u30ab\u30b9\u30bf\u30e0\u30bf\u30d6\u306e\u30b9\u30af\u30ea\u30d7\u30c8\u306b\u3042\u308b\u7d30\u5de5\u3092\u3057\u3066\u304a\u304d\u307e\u3057\u305f\u3002\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30d6\u30ed\u30c3\u30af\u306b\u5bfe\u3057\u3066\u300c\u4f5c\u6210 \/ \u958b\u304f\u300d\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u3001<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5894\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/create_test_harness_for_DTI_block_1.png\" alt=\"\" width=\"567\" height=\"459\" \/><\/p>\n<p>\u53c2\u7167\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u4ecb\u3057\u3066\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5897\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/create_test_harness_for_DTI_block_2.png\" alt=\"\" width=\"638\" height=\"393\" \/><\/p>\n<p>\u5c11\u3057\u89e3\u8aac\u3057\u307e\u3059\u30021\u500b\u306e\u30d6\u30ed\u30c3\u30af\u306b\u5bfe\u3057\u3066\u306f\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f5c\u308c\u306a\u3044\u305f\u3081\u3001\u305d\u306e\u30d6\u30ed\u30c3\u30af\u3060\u3051\u3092\u542b\u3080\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u4f5c\u6210\u3057\u3001\u305d\u308c\u3092\u53c2\u7167\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306b\u3088\u308a\u5225\u30d5\u30a1\u30a4\u30eb\u306b\u5206\u3051\u305f\u4e0a\u3067\u3001\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f5c\u308a\u307e\u3057\u305f\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5912\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/test_harness_ref_structure_DTI_block_.png\" alt=\"\" width=\"737\" height=\"412\" \/><\/p>\n<p>\u3084\u3084\u3053\u3057\u304f\u3066\u7533\u3057\u8a33\u306a\u3044\u3067\u3059\u304c\u3001\u3053\u3046\u3057\u305f\u65b9\u304c\u5b89\u5168\u3067\u3059\u306e\u3067\u3001\u305d\u3046\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u306e\u30d5\u30a1\u30a4\u30eb\u540c\u58eb\u306e\u95a2\u4fc2\u6027\u304c\u5206\u304b\u3089\u306a\u304f\u3066\u3082\u5927\u4e08\u592b\u3067\u3059\u3002\u300cDiscrete_Time_Integrator__s_harness.slx\u300d\u306b\u3066\u3001\u30d6\u30ed\u30c3\u30af\u306e\u52d5\u4f5c\u3092\u78ba\u8a8d\u3057\u3001\u7d42\u308f\u3063\u305f\u3089\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u9589\u3058\u308b\u3060\u3051\u3067\u3088\u3044\u3067\u3059\u3002<\/p>\n<p>\u78ba\u8a8d\u3057\u7d42\u308f\u3063\u305f\u3089\u3001\u3082\u3046\u3053\u306e\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u306f\u3044\u3089\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u3002\u5143\u306e\u30e2\u30c7\u30eb\u306b\u623b\u308a\u3001\u300cDiscrete_Time_Integrator__s\u300d\u53c2\u7167\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u3092\u524a\u9664\u3057\u3066\u3001Discrete-Time Integrator\u30d6\u30ed\u30c3\u30af\u306b\u623b\u3057\u307e\u3059\u3002\u3053\u306e\u6642\u3001\u30af\u30ea\u30c3\u30af\u4e00\u3064\u3067\u623b\u305b\u308b\u3088\u3046\u306b\u30ab\u30b9\u30bf\u30e0\u30bf\u30d6\u306e\u30dc\u30bf\u30f3\u3092\u7528\u610f\u3057\u3066\u304a\u304d\u307e\u3057\u305f\u3002\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-5915\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/delete_DTI_test_block_.png\" alt=\"\" width=\"620\" height=\"682\" \/><\/p>\n<p>\u305f\u3060\u3057\u3001\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u306b\u300cDiscrete_Time_Integrator__s.slx\u300d\u3068\u3044\u3046\u53c2\u7167\u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u30d5\u30a1\u30a4\u30eb\u306f\u6b8b\u3063\u3066\u3044\u307e\u3059\u3002\u6b8b\u3063\u3066\u3044\u3066\u3082\u554f\u984c\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u6c17\u306b\u306a\u308b\u5834\u5408\u306f\u524a\u9664\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h2 id=\"finish_modeling\">3.4. \u6a5f\u80fd\u3092\u5b8c\u6210\u3055\u305b\u308b<\/h2>\n<p>\u7d9a\u3051\u3066\u30e2\u30c7\u30ea\u30f3\u30b0\u3057\u3001\u6a5f\u80fd\u3092\u5b8c\u6210\u3055\u305b\u307e\u3059\u3002\u6700\u7d42\u7684\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" width=\"1869\" height=\"415\" class=\"aligncenter size-full wp-image-6179\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/offset_free_model_finished.png\" alt=\"\" \/><\/p>\n<p>\u5b9f\u306fref\u306f\u3001\u4e88\u6e2c\u30db\u30e9\u30a4\u30ba\u30f3\u3068\u540c\u3058\u9577\u3055\u306e\u300130\u30b9\u30c6\u30c3\u30d7\u5206\u306e2\u6b21\u5143\u30d9\u30af\u30c8\u30eb\u304c\u307e\u3068\u3081\u3066\u5165\u529b\u3055\u308c\u308b\u306e\u3067\u3001\u5b9f\u969b\u306f 2\u00d730 \u306e\u884c\u5217\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u5dee\u5206\u3092\u8a08\u7b97\u3059\u308b\u306e\u306fref\u884c\u5217\u306e\u4e2d\u306e(1,1), (2,1)\u8981\u7d20\u306e\u307f\u3068\u3057\u3066\u3001\u304b\u3064\u5f97\u3089\u308c\u305f\u8abf\u6574\u91cf\u306fref\u306e\u5168\u4f53\u306b\u304b\u3051\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002\u4e0a\u8a18\u3092\u4f5c\u6210\u3059\u308b\u969b\u306b\u306f\u3001\u662f\u975e\u300c\u4f5c\u3063\u3066\u306f\u5b9f\u884c\u300d\u3092\u5fc3\u639b\u3051\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002\u5c11\u3057\u3067\u3082\u4e0d\u5b89\u3092\u611f\u3058\u305f\u3089\u3059\u3050\u306b\u5b9f\u884c\u3057\u3066\u78ba\u8a8d\u3001\u3067\u3059\u3002<\/p>\n<p>\uff08&#8221;offset_free_I_gain&#8221;\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f0\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff09<\/p>\n<p>\u554f\u984c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3057\u305f\u3089\u3001\u30e2\u30c7\u30eb\u3092\u4fdd\u5b58\u3057\u3001\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u9589\u3058\u307e\u3059\u3002&#8221;offset_free_I_gain&#8221;\u30920.01\u306b\u8a2d\u5b9a\u3057\u3001\u6700\u4e0a\u4f4d\u968e\u5c64\u306e\u300cBallAndPlate_system.slx\u300d\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter wp-image-6185\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/sim_result_after_creating_offset_free.png\" alt=\"\" width=\"615\" height=\"544\" \/><\/p>\n<p>\u5e73\u5747\u7684\u306b\u306f\u30aa\u30d5\u30bb\u30c3\u30c8\u3092\u53d6\u308a\u9664\u304f\u3053\u3068\u304c\u3067\u304d\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1 id=\"conclusion\">4. \u307e\u3068\u3081<\/h1>\n<p>\u3044\u304b\u304c\u3067\u3057\u3087\u3046\u304b\u3002\u7686\u3055\u3093\u306f\u3053\u308c\u307e\u3067\u3001\u30d6\u30ed\u30c3\u30af1\u500b\u5358\u4f4d\u3084\u30011\u7b87\u6240\u306e\u8a2d\u5b9a\u5909\u66f4\u306b\u5bfe\u3057\u3066\u3001\u3059\u3050\u306b\u52d5\u304b\u3057\u3066\u8a66\u3057\u3066\u3001\u3068\u3044\u3046\u30e2\u30c7\u30ea\u30f3\u30b0\u3092\u3042\u307e\u308a\u3084\u3063\u3066\u3044\u306a\u304b\u3063\u305f\u306e\u3067\u306f\u306a\u3044\u3067\u3057\u3087\u3046\u304b\u3002\u3084\u308d\u3046\u3068\u601d\u3063\u3066\u3082\u3001\u65b0\u3057\u304f\u30e2\u30c7\u30eb\u3092\u4f5c\u6210\u3057\u305f\u308a\u3059\u308b\u4f5c\u696d\u304c\u5104\u52ab\u3067\u3084\u3089\u306a\u304b\u3063\u305f\u3001\u3068\u3044\u3046\u30b1\u30fc\u30b9\u3082\u3042\u3063\u305f\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<p>\u3057\u304b\u3057\u3001Simulink Test \u304c\u3042\u308c\u3070\u72b6\u6cc1\u306f\u4e00\u5909\u3057\u307e\u3059\u3002\u3069\u3093\u306a\u7d30\u304b\u3044\u52d5\u4f5c\u78ba\u8a8d\u3082\u3001\u30c6\u30b9\u30c8\u30cf\u30fc\u30cd\u30b9\u3092\u4f7f\u3048\u3070\u3059\u3050\u306b\u3067\u304d\u307e\u3059\u3002\u7686\u3055\u3093\u306e\u5b9f\u696d\u52d9\u3067\u3082\u662f\u975e\u304a\u8a66\u3057\u304f\u3060\u3055\u3044\u3002\u3084\u3063\u3066\u307f\u308b\u3068\u3001\u3053\u306e\u30c6\u30b9\u30c8\u99c6\u52d5\u30e2\u30c7\u30ea\u30f3\u30b0\u304c\u5982\u4f55\u306b\u52b9\u7387\u7684\u3067\u3042\u308b\u304b\u304c\u5206\u304b\u308b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001\u4eca\u56de\u8aac\u660e\u3057\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\u304c\u3001\u304d\u3061\u3093\u3068\u30c6\u30b9\u30c8\u30b7\u30ca\u30ea\u30aa\u3092\u4f5c\u3063\u3066\u304a\u304f\u3068\u3001\u30c6\u30b9\u30c8\u30de\u30cd\u30fc\u30b8\u30e3\u30fc\u3068\u3044\u3046\u30a2\u30d7\u30ea\u3092\u4f7f\u3063\u3066\u7ba1\u7406\u3067\u304d\u307e\u3059\u3002\u305d\u3046\u3059\u308b\u3068\u3001\u30e2\u30c7\u30eb\u306e\u5909\u66f4\u304c\u3042\u3063\u305f\u6642\u3001\u554f\u984c\u304c\u7121\u3044\u304b\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u4e00\u62ec\u3067\u81ea\u52d5\u5b9f\u884c\u3068\u7d50\u679c\u306e\u5408\u5426\u5224\u5b9a\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u3061\u306a\u307f\u306b\u3001\u30b3\u30fc\u30c9\u30d9\u30fc\u30b9\u306e\u958b\u767a\u306b\u304a\u3051\u308b\u300c\u30c6\u30b9\u30c8\u99c6\u52d5\u958b\u767a\u300d\u3068\u3001\u8003\u3048\u65b9\u306f\u540c\u3058\u3067\u3059\u306e\u3067\u3001\u305d\u3046\u547c\u3093\u3067\u3082\u826f\u3044\u306e\u3067\u3059\u304c\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u9818\u57df\u306b\u7559\u307e\u3089\u306a\u3044\u3001\u307e\u305f Simulink \u306a\u3089\u3067\u306f\u306e\u6280\u6cd5\u3067\u3059\u306e\u3067\u3001\u6562\u3048\u3066\u5225\u306e\u547c\u3073\u65b9\u3092\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u6700\u5f8c\u306b\u3001\u6700\u8fd1\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u3044\u307e\u3059\u3001\u30e2\u30c7\u30ea\u30f3\u30b0\u306e\u53c2\u8003\u306b\u306a\u308b\u30c6\u30af\u30cb\u30c3\u30af\u52d5\u753b\u96c6\u3092\u4ee5\u4e0b\u306b\u7d39\u4ecb\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002<\/p>\n<p><a href=\"https:\/\/www.youtube.com\/watch?v=P8Ig2Ak1AIw\" target=\"_blank\" rel=\"noopener nofollow\" class=\"external\">Project\u306b\u3088\u308b\u7d99\u7d9a\u7684\u306a\u30c1\u30fc\u30e0\u958b\u767a\u306e\u5b9f\u73fe<\/a><\/p>\n<p><a href=\"https:\/\/www.youtube.com\/watch?v=EjWcs4-G22s\" target=\"_blank\" rel=\"noopener nofollow\" class=\"external\">Simulink\u958b\u767a\u306e\u5fc5\u9808\u30c6\u30af\u30cb\u30c3\u30af \uff5e\u30c6\u30b9\u30c8\u99c6\u52d5\u958b\u767a\u3068\u30b0\u30e9\u30d5\u30a3\u30ab\u30eb\u8868\u73fe\uff5e<\/a><\/p>\n<p><a href=\"https:\/\/www.youtube.com\/watch?v=oUZEWF8GaRs\" target=\"_blank\" rel=\"noopener nofollow\" class=\"external\">Simulink\u3067\u958b\u767a\u3092\u884c\u3046\u305f\u3081\u306e\u5fc5\u9808\u30c6\u30af\u30cb\u30c3\u30af \u200b\uff5e\u30a8\u30c7\u30a3\u30bf\u4fbf\u5229\u6a5f\u80fd\u3068\u30b7\u30e7\u30fc\u30c8\u30ab\u30c3\u30c8\uff5e<\/a><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<div class=\"overview-image\"><img src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2022\/04\/Simulink_Test_eye_catch_image_.png\" class=\"img-responsive attachment-post-thumbnail size-post-thumbnail wp-post-image\" alt=\"\" decoding=\"async\" loading=\"lazy\" \/><\/div>\n<p>\u672c\u65e5\u306f\uff0c\u3044\u307e\u3084 &#8220;Simulink \u306e\u4e2d\u306e\u4eba&#8221; \u3068\u3057\u3066\u7206\u767a\u7684\u306a\u4eba\u6c17\u3092\u8a87\u308b toshi \u3055\u3093\u3088\u308a Simulink Test \u306b\u3064\u3044\u3066\u306e\u8a18\u4e8b\u3067\u3059\uff0e\u30cf\u30f3\u30ba\u30aa\u30f3\u5f62\u5f0f\u306a\u306e\u3067\u7686\u3055\u3093\u3082\u4e00\u7dd2\u306b\u624b\u3092\u52d5\u304b\u3057\u306a\u304c\u3089\u8aad\u3093\u3067\u307f\u3066\u304f\u3060\u3055\u3044\uff0e<\/p>\n<p>\u3053\u3093\u306b\u3061\u306f\u3002toshi | Simulink \u306e\u4e2d\u306e\u4eba\u3067\u3059\u3002<br \/>\n\u7686\u3055\u3093\u3001Simulink \u3067\u30e2\u30c7\u30eb\u3092\u4f5c\u3063\u3066\u307e\u3059\u3067\u3057\u3087\u3046\u304b\uff1f \u6700\u8fd1\u306f Twitter \u3084&#8230; <a class=\"read-more\" href=\"https:\/\/blogs.mathworks.com\/japan-community\/2022\/04\/27\/simulink-test-driven-modeling\/\">read more >><\/a><\/p>\n","protected":false},"author":35,"featured_media":6518,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[86],"tags":[67,92,69,89,98,95,101],"_links":{"self":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/5644"}],"collection":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/users\/35"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/comments?post=5644"}],"version-history":[{"count":96,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/5644\/revisions"}],"predecessor-version":[{"id":6551,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/5644\/revisions\/6551"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/media\/6518"}],"wp:attachment":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/media?parent=5644"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/categories?post=5644"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/tags?post=5644"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}