|
|
Model {
|
|
|
Name "sat9_new"
|
|
|
Version 9.2
|
|
|
SavedCharacterEncoding "GBK"
|
|
|
GraphicalInterface {
|
|
|
NumRootInports 0
|
|
|
NumRootOutports 0
|
|
|
ParameterArgumentNames ""
|
|
|
ComputedModelVersion "1.2037"
|
|
|
NumModelReferences 0
|
|
|
NumTestPointedSignals 0
|
|
|
NumProvidedFunctions 0
|
|
|
NumRequiredFunctions 0
|
|
|
NumResetEvents 0
|
|
|
HasInitializeEvent 0
|
|
|
HasTerminateEvent 0
|
|
|
PreCompExecutionDomainType "Unset"
|
|
|
IsExportFunctionModel 0
|
|
|
NumParameterArguments 0
|
|
|
NumExternalFileReferences 45
|
|
|
ExternalFileReference {
|
|
|
Reference "sharedtransform/Quaternions to \nDirection Cosine Matrix"
|
|
|
Path "sat9_new/Determination /B2/Quaternions to Direction Cosine Matrix"
|
|
|
SID "2657"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nConjugate"
|
|
|
Path "sat9_new/Determination /B2/Subsystem/Quaternion Conjugate1"
|
|
|
SID "2662"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nMultiplication"
|
|
|
Path "sat9_new/Determination /B2/Subsystem/Quaternion Multiplication"
|
|
|
SID "2656"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "dspinverses/ LU Inverse"
|
|
|
Path "sat9_new/Determination /Subsystem/Subsystem1/KF/A_K/ LU Inverse"
|
|
|
SID "2432"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibconvert2/Angle Conversion"
|
|
|
Path "sat9_new/SatModel/Dynamic/Angle Conversion"
|
|
|
SID "2775"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "sharedtransform/Rotation Angles to\nDirection Cosine Matrix"
|
|
|
Path "sat9_new/SatModel/Dynamic/Rotation Angles to Direction Cosine Matrix"
|
|
|
SID "2771"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "dspmtrx3/Identity Matrix"
|
|
|
Path "sat9_new/SatModel/Dynamic/ang2Inv(I)/Inv/Identity Matrix"
|
|
|
SID "2220"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "dspsolvers/LU Solver"
|
|
|
Path "sat9_new/SatModel/Dynamic/ang2Inv(I)/Inv/LU Solver"
|
|
|
SID "2221"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibconvert2/Angle Conversion"
|
|
|
Path "sat9_new/SatModel/kinematics/Angle Conversion"
|
|
|
SID "2778"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nMultiplication"
|
|
|
Path "sat9_new/SatModel/kinematics/Quaternion Multiplication"
|
|
|
SID "2658"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nMultiplication"
|
|
|
Path "sat9_new/SatModel/kinematics/Quaternion Multiplication1"
|
|
|
SID "2659"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "sharedutil/Quaternion\nNormalize"
|
|
|
Path "sat9_new/SatModel/kinematics/Quaternion Normalize"
|
|
|
SID "2721"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "sharedtransform/Quaternions to Rotation Angles"
|
|
|
Path "sat9_new/SatModel/kinematics/Quaternions to Rotation Angles"
|
|
|
SID "2407"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "sharedtransform/Rotation Angles to Quaternions"
|
|
|
Path "sat9_new/SatModel/kinematics/Rotation Angles to Quaternions"
|
|
|
SID "2767"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode2/Ramp"
|
|
|
SID "2272"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode2/Ramp1"
|
|
|
SID "2273"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode2/Ramp2"
|
|
|
SID "2274"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode2/Ramp3"
|
|
|
SID "2275"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp"
|
|
|
SID "2288"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp1"
|
|
|
SID "2289"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp2"
|
|
|
SID "2290"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp3"
|
|
|
SID "2291"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp4"
|
|
|
SID "2292"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp5"
|
|
|
SID "2293"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp6"
|
|
|
SID "2294"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode3/Ramp7"
|
|
|
SID "2295"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp"
|
|
|
SID "2312"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp1"
|
|
|
SID "2313"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp2"
|
|
|
SID "2314"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp3"
|
|
|
SID "2315"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp4"
|
|
|
SID "2316"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp5"
|
|
|
SID "2317"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp6"
|
|
|
SID "2318"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode4/Ramp7"
|
|
|
SID "2319"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode5/Ramp"
|
|
|
SID "2337"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode5/Ramp1"
|
|
|
SID "2338"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode5/Ramp2"
|
|
|
SID "2339"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "simulink/Sources/Ramp"
|
|
|
Path "sat9_new/Solar panel1/mode5/Ramp3"
|
|
|
SID "2340"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibconvert2/Angle Conversion"
|
|
|
Path "sat9_new/Subsystem3/Angle Conversion"
|
|
|
SID "2414"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "sharedtransform/Rotation Angles to Quaternions"
|
|
|
Path "sat9_new/Subsystem3/Rotation Angles to Quaternions"
|
|
|
SID "2408"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nConjugate"
|
|
|
Path "sat9_new/Subsystem3/Subsystem/Quaternion Conjugate"
|
|
|
SID "2642"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nConjugate"
|
|
|
Path "sat9_new/Subsystem3/Subsystem/Quaternion Conjugate1"
|
|
|
SID "2665"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nMultiplication"
|
|
|
Path "sat9_new/Subsystem3/Subsystem/Quaternion Multiplication"
|
|
|
SID "2643"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nMultiplication"
|
|
|
Path "sat9_new/Subsystem3/Subsystem/Quaternion Multiplication1"
|
|
|
SID "2652"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
ExternalFileReference {
|
|
|
Reference "aerolibutil/Quaternion\nMultiplication"
|
|
|
Path "sat9_new/Subsystem3/Subsystem/Quaternion Multiplication2"
|
|
|
SID "2666"
|
|
|
Type "LIBRARY_BLOCK"
|
|
|
}
|
|
|
OrderedModelArguments 1
|
|
|
}
|
|
|
DiagnosticSuppressor "on"
|
|
|
WebScopes_FoundationPlugin "on"
|
|
|
NotesPlugin "on"
|
|
|
LogicAnalyzerPlugin "on"
|
|
|
SLCCPlugin "on"
|
|
|
ScopeRefreshTime 0.035000
|
|
|
OverrideScopeRefreshTime on
|
|
|
DisableAllScopes off
|
|
|
DataTypeOverride "UseLocalSettings"
|
|
|
DataTypeOverrideAppliesTo "AllNumericTypes"
|
|
|
MinMaxOverflowLogging "UseLocalSettings"
|
|
|
MinMaxOverflowArchiveMode "Overwrite"
|
|
|
FPTRunName "Run 1"
|
|
|
MaxMDLFileLineLength 120
|
|
|
LastSavedArchitecture "win64"
|
|
|
Object {
|
|
|
$PropName "BdWindowsInfo"
|
|
|
$ObjectID 1
|
|
|
$ClassName "Simulink.BDWindowsInfo"
|
|
|
Object {
|
|
|
$PropName "WindowsInfo"
|
|
|
$ObjectID 2
|
|
|
$ClassName "Simulink.WindowInfo"
|
|
|
IsActive [1]
|
|
|
Location [-4.0, -4.0, 1608.0, 864.0]
|
|
|
Object {
|
|
|
$PropName "ModelBrowserInfo"
|
|
|
$ObjectID 3
|
|
|
$ClassName "Simulink.ModelBrowserInfo"
|
|
|
Visible [0]
|
|
|
DockPosition "Left"
|
|
|
Width [50]
|
|
|
Height [50]
|
|
|
Filter [9]
|
|
|
}
|
|
|
Object {
|
|
|
$PropName "ExplorerBarInfo"
|
|
|
$ObjectID 4
|
|
|
$ClassName "Simulink.ExplorerBarInfo"
|
|
|
Visible [1]
|
|
|
}
|
|
|
Array {
|
|
|
Type "Simulink.EditorInfo"
|
|
|
Dimension 11
|
|
|
Object {
|
|
|
$ObjectID 5
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "2229"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [194.9000000000002, 73.0]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 6
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "2683"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.5]
|
|
|
Offset [-298.05714285714276, -64.152380952381009]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 7
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "2351"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [-314.0, -269.9]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 8
|
|
|
IsActive [1]
|
|
|
ViewObjType "SimulinkTopLevel"
|
|
|
LoadSaveID "0"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.0]
|
|
|
Offset [-302.0, -46.5]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 9
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "1490"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [-71.9333333333334, -65.133333333333269]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 10
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "2216"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.5]
|
|
|
Offset [-342.5, -188.5]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 11
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "1"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [-57.5, -101.89999999999998]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 12
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "1847"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [-194.59999999999991, 65.900000000000034]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 13
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "1868"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.0]
|
|
|
Offset [-328.984375, -47.0]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 14
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "1986"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [-226.10000000000002, -26.899999999999977]
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 15
|
|
|
IsActive [0]
|
|
|
ViewObjType "SimulinkSubsys"
|
|
|
LoadSaveID "1832"
|
|
|
Extents [1560.0, 696.0]
|
|
|
ZoomFactor [1.25]
|
|
|
Offset [-579.26666666666711, -156.73333333333295]
|
|
|
}
|
|
|
PropName "EditorsInfo"
|
|
|
}
|
|
|
Object {
|
|
|
$PropName "DockComponentsInfo"
|
|
|
$ObjectID 16
|
|
|
$ClassName "Simulink.DockComponentInfo"
|
|
|
Type "GLUE2:PropertyInspector"
|
|
|
ID "Property Inspector"
|
|
|
Visible [0]
|
|
|
CreateCallback ""
|
|
|
UserData ""
|
|
|
Floating [0]
|
|
|
DockPosition "Right"
|
|
|
Width [640]
|
|
|
Height [480]
|
|
|
}
|
|
|
WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
|
|
|
"AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac"
|
|
|
"ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABZAP///wAAAAEAAAAAAAAAAPwCA"
|
|
|
"AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
|
|
|
"QBjAHQAbwByAAAAAAD/////AAAAOQD///8AAAZAAAAC9gAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
|
|
|
"////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
|
|
|
"////wEAAAB5/////wAAAAAAAAAA/////wEAAADa/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAFT/////wAAAAAAAAAA/"
|
|
|
"////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAANX/////wAAAAAAAAAA/"
|
|
|
"////wEAAAOG/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
|
|
|
}
|
|
|
}
|
|
|
HideAutomaticNames on
|
|
|
Created "Sat Dec 27 13:39:09 2003"
|
|
|
Creator "majingjing"
|
|
|
UpdateHistory "UpdateHistoryNever"
|
|
|
ModifiedByFormat "%<Auto>"
|
|
|
LastModifiedBy "majingjing"
|
|
|
ModifiedDateFormat "%<Auto>"
|
|
|
LastModifiedDate "Wed May 10 09:15:46 2023"
|
|
|
RTWModifiedTimeStamp 605610734
|
|
|
ModelVersionFormat "1.%<AutoIncrement:2037>"
|
|
|
SampleTimeColors off
|
|
|
SampleTimeAnnotations off
|
|
|
LibraryLinkDisplay "none"
|
|
|
WideLines off
|
|
|
ShowLineDimensions on
|
|
|
ShowPortDataTypes off
|
|
|
ShowAllPropagatedSignalLabels off
|
|
|
PortDataTypeDisplayFormat "AliasTypeOnly"
|
|
|
ShowEditTimeErrors on
|
|
|
ShowEditTimeWarnings on
|
|
|
ShowEditTimeAdvisorChecks off
|
|
|
ShowPortUnits off
|
|
|
ShowDesignRanges off
|
|
|
ShowLoopsOnError on
|
|
|
IgnoreBidirectionalLines off
|
|
|
ShowStorageClass off
|
|
|
ShowTestPointIcons on
|
|
|
ShowSignalResolutionIcons on
|
|
|
ShowViewerIcons on
|
|
|
SortedOrder off
|
|
|
VariantCondition off
|
|
|
ShowSubsystemDomainSpec off
|
|
|
ExecutionContextIcon off
|
|
|
ShowLinearizationAnnotations on
|
|
|
ShowVisualizeInsertedRTB on
|
|
|
ShowMarkup on
|
|
|
BlockNameDataTip off
|
|
|
BlockParametersDataTip off
|
|
|
BlockDescriptionStringDataTip off
|
|
|
BlockVariantConditionDataTip off
|
|
|
ToolBar on
|
|
|
StatusBar on
|
|
|
BrowserShowLibraryLinks off
|
|
|
FunctionConnectors off
|
|
|
BrowserLookUnderMasks off
|
|
|
MultiThreadCoSim on
|
|
|
SimulationMode "normal"
|
|
|
VisualizeLoggedSignalsWhenLoggingToFile off
|
|
|
PauseTimes "5"
|
|
|
NumberOfSteps 1
|
|
|
SnapshotBufferSize 10
|
|
|
SnapshotInterval 10
|
|
|
NumberOfLastSnapshots 0
|
|
|
EnablePacing off
|
|
|
PacingRate 1
|
|
|
LinearizationMsg "none"
|
|
|
Profile off
|
|
|
ParamWorkspaceSource "MATLABWorkspace"
|
|
|
AccelSystemTargetFile "accel.tlc"
|
|
|
AccelTemplateMakefile "accel_default_tmf"
|
|
|
AccelMakeCommand "make_rtw"
|
|
|
TryForcingSFcnDF off
|
|
|
Object {
|
|
|
$PropName "DataLoggingOverride"
|
|
|
$ObjectID 17
|
|
|
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
|
|
|
model_ "sat9_new"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 1
|
|
|
Cell "sat9_new"
|
|
|
PropName "logAsSpecifiedByModels_"
|
|
|
}
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 1
|
|
|
Cell ""
|
|
|
PropName "logAsSpecifiedByModelsSSIDs_"
|
|
|
}
|
|
|
}
|
|
|
ExtModeBatchMode off
|
|
|
ExtModeEnableFloating on
|
|
|
ExtModeTrigType "manual"
|
|
|
ExtModeTrigMode "normal"
|
|
|
ExtModeTrigPort "1"
|
|
|
ExtModeTrigElement "any"
|
|
|
ExtModeTrigDuration 1000
|
|
|
ExtModeTrigDurationFloating "auto"
|
|
|
ExtModeTrigHoldOff 0
|
|
|
ExtModeTrigDelay 0
|
|
|
ExtModeTrigDirection "rising"
|
|
|
ExtModeTrigLevel 0
|
|
|
ExtModeArchiveMode "off"
|
|
|
ExtModeAutoIncOneShot off
|
|
|
ExtModeIncDirWhenArm off
|
|
|
ExtModeAddSuffixToVar off
|
|
|
ExtModeWriteAllDataToWs off
|
|
|
ExtModeArmWhenConnect off
|
|
|
ExtModeSkipDownloadWhenConnect off
|
|
|
ExtModeLogAll on
|
|
|
ExtModeAutoUpdateStatusClock on
|
|
|
ShowModelReferenceBlockVersion off
|
|
|
ShowModelReferenceBlockIO off
|
|
|
OrderedModelArguments on
|
|
|
Array {
|
|
|
Type "Handle"
|
|
|
Dimension 1
|
|
|
Simulink.ConfigSet {
|
|
|
$ObjectID 18
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
Array {
|
|
|
Type "Handle"
|
|
|
Dimension 10
|
|
|
Simulink.SolverCC {
|
|
|
$ObjectID 19
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
StartTime "0.0"
|
|
|
StopTime "3"
|
|
|
AbsTol "auto"
|
|
|
AutoScaleAbsTol on
|
|
|
FixedStep "0.01"
|
|
|
InitialStep "auto"
|
|
|
MaxOrder 5
|
|
|
ZcThreshold "auto"
|
|
|
ConsecutiveZCsStepRelTol "10*128*eps"
|
|
|
MaxConsecutiveZCs "1000"
|
|
|
ExtrapolationOrder 4
|
|
|
NumberNewtonIterations 1
|
|
|
MaxStep "auto"
|
|
|
MinStep "auto"
|
|
|
MaxConsecutiveMinStep "1"
|
|
|
RelTol "0.1"
|
|
|
EnableMultiTasking off
|
|
|
ConcurrentTasks off
|
|
|
Solver "ode4"
|
|
|
SolverName "ode4"
|
|
|
SolverJacobianMethodControl "auto"
|
|
|
ShapePreserveControl "DisableAll"
|
|
|
ZeroCrossControl "UseLocalSettings"
|
|
|
ZeroCrossAlgorithm "Nonadaptive"
|
|
|
AlgebraicLoopSolver "TrustRegion"
|
|
|
SolverInfoToggleStatus on
|
|
|
IsAutoAppliedInSIP off
|
|
|
SolverResetMethod "Fast"
|
|
|
PositivePriorityOrder off
|
|
|
AutoInsertRateTranBlk off
|
|
|
SampleTimeConstraint "Unconstrained"
|
|
|
InsertRTBMode "Whenever possible"
|
|
|
SampleTimeProperty []
|
|
|
DecoupledContinuousIntegration off
|
|
|
MinimalZcImpactIntegration off
|
|
|
}
|
|
|
Simulink.DataIOCC {
|
|
|
$ObjectID 20
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
Decimation "100"
|
|
|
ExternalInput "[t, u]"
|
|
|
FinalStateName "xFinal"
|
|
|
InitialState "xInitial"
|
|
|
LimitDataPoints off
|
|
|
MaxDataPoints "1000"
|
|
|
LoadExternalInput off
|
|
|
LoadInitialState off
|
|
|
SaveFinalState off
|
|
|
SaveCompleteFinalSimState off
|
|
|
SaveFormat "Array"
|
|
|
SignalLoggingSaveFormat "ModelDataLogs"
|
|
|
SaveOutput on
|
|
|
SaveState off
|
|
|
SignalLogging on
|
|
|
DSMLogging on
|
|
|
InspectSignalLogs off
|
|
|
VisualizeSimOutput on
|
|
|
StreamToWorkspace off
|
|
|
StreamVariableName "streamout"
|
|
|
SaveTime on
|
|
|
ReturnWorkspaceOutputs off
|
|
|
StateSaveName "xout"
|
|
|
TimeSaveName "tout"
|
|
|
OutputSaveName "yout"
|
|
|
SignalLoggingName "sigsOut"
|
|
|
DSMLoggingName "dsmout"
|
|
|
OutputOption "RefineOutputTimes"
|
|
|
OutputTimes "[]"
|
|
|
ReturnWorkspaceOutputsName "out"
|
|
|
Refine "1"
|
|
|
LoggingToFile off
|
|
|
DatasetSignalFormat "timeseries"
|
|
|
LoggingFileName "out.mat"
|
|
|
LoggingIntervals "[-inf, inf]"
|
|
|
}
|
|
|
Simulink.OptimizationCC {
|
|
|
$ObjectID 21
|
|
|
Version "1.18.1"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 8
|
|
|
Cell "BooleansAsBitfields"
|
|
|
Cell "PassReuseOutputArgsAs"
|
|
|
Cell "PassReuseOutputArgsThreshold"
|
|
|
Cell "ZeroExternalMemoryAtStartup"
|
|
|
Cell "ZeroInternalMemoryAtStartup"
|
|
|
Cell "OptimizeModelRefInitCode"
|
|
|
Cell "NoFixptDivByZeroProtection"
|
|
|
Cell "UseSpecifiedMinMax"
|
|
|
PropName "DisabledProps"
|
|
|
}
|
|
|
Description ""
|
|
|
BlockReduction on
|
|
|
BooleanDataType off
|
|
|
ConditionallyExecuteInputs on
|
|
|
DefaultParameterBehavior "Tunable"
|
|
|
UseDivisionForNetSlopeComputation "off"
|
|
|
UseFloatMulNetSlope off
|
|
|
DefaultUnderspecifiedDataType "double"
|
|
|
UseSpecifiedMinMax off
|
|
|
InlineInvariantSignals off
|
|
|
OptimizeBlockIOStorage on
|
|
|
BufferReuse on
|
|
|
EnhancedBackFolding off
|
|
|
CachingGlobalReferences off
|
|
|
GlobalBufferReuse on
|
|
|
StrengthReduction off
|
|
|
AdvancedOptControl ""
|
|
|
ExpressionFolding off
|
|
|
BooleansAsBitfields off
|
|
|
BitfieldContainerType "uint_T"
|
|
|
EnableMemcpy on
|
|
|
MemcpyThreshold 64
|
|
|
PassReuseOutputArgsAs "Structure reference"
|
|
|
PassReuseOutputArgsThreshold 12
|
|
|
ExpressionDepthLimit 128
|
|
|
LocalBlockOutputs off
|
|
|
RollThreshold 5
|
|
|
StateBitsets off
|
|
|
DataBitsets off
|
|
|
ActiveStateOutputEnumStorageType "Native Integer"
|
|
|
ZeroExternalMemoryAtStartup on
|
|
|
ZeroInternalMemoryAtStartup on
|
|
|
InitFltsAndDblsToZero off
|
|
|
NoFixptDivByZeroProtection off
|
|
|
EfficientFloat2IntCast off
|
|
|
EfficientMapNaN2IntZero on
|
|
|
LifeSpan "inf"
|
|
|
MaxStackSize "Inherit from target"
|
|
|
BufferReusableBoundary on
|
|
|
SimCompilerOptimization "off"
|
|
|
AccelVerboseBuild off
|
|
|
OptimizeBlockOrder "off"
|
|
|
OptimizeDataStoreBuffers on
|
|
|
BusAssignmentInplaceUpdate on
|
|
|
DifferentSizesBufferReuse off
|
|
|
OptimizationLevel "level2"
|
|
|
OptimizationPriority "Balanced"
|
|
|
OptimizationCustomize on
|
|
|
UseRowMajorAlgorithm off
|
|
|
LabelGuidedReuse off
|
|
|
}
|
|
|
Simulink.DebuggingCC {
|
|
|
$ObjectID 22
|
|
|
Version "1.18.1"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 1
|
|
|
Cell "UseOnlyExistingSharedCode"
|
|
|
PropName "DisabledProps"
|
|
|
}
|
|
|
Description ""
|
|
|
RTPrefix "error"
|
|
|
ConsistencyChecking "none"
|
|
|
ArrayBoundsChecking "none"
|
|
|
SignalInfNanChecking "none"
|
|
|
StringTruncationChecking "error"
|
|
|
SignalRangeChecking "none"
|
|
|
ReadBeforeWriteMsg "UseLocalSettings"
|
|
|
WriteAfterWriteMsg "UseLocalSettings"
|
|
|
WriteAfterReadMsg "UseLocalSettings"
|
|
|
AlgebraicLoopMsg "none"
|
|
|
ArtificialAlgebraicLoopMsg "warning"
|
|
|
SaveWithDisabledLinksMsg "warning"
|
|
|
SaveWithParameterizedLinksMsg "none"
|
|
|
CheckSSInitialOutputMsg on
|
|
|
UnderspecifiedInitializationDetection "Classic"
|
|
|
MergeDetectMultiDrivingBlocksExec "none"
|
|
|
CheckExecutionContextPreStartOutputMsg off
|
|
|
CheckExecutionContextRuntimeOutputMsg off
|
|
|
SignalResolutionControl "TryResolveAllWithWarning"
|
|
|
BlockPriorityViolationMsg "warning"
|
|
|
MinStepSizeMsg "warning"
|
|
|
TimeAdjustmentMsg "none"
|
|
|
MaxConsecutiveZCsMsg "error"
|
|
|
MaskedZcDiagnostic "warning"
|
|
|
IgnoredZcDiagnostic "warning"
|
|
|
SolverPrmCheckMsg "none"
|
|
|
InheritedTsInSrcMsg "none"
|
|
|
MultiTaskDSMMsg "warning"
|
|
|
MultiTaskCondExecSysMsg "none"
|
|
|
MultiTaskRateTransMsg "error"
|
|
|
SingleTaskRateTransMsg "none"
|
|
|
TasksWithSamePriorityMsg "warning"
|
|
|
ExportedTasksRateTransMsg "none"
|
|
|
SigSpecEnsureSampleTimeMsg "warning"
|
|
|
CheckMatrixSingularityMsg "none"
|
|
|
IntegerOverflowMsg "warning"
|
|
|
Int32ToFloatConvMsg "warning"
|
|
|
ParameterDowncastMsg "error"
|
|
|
ParameterOverflowMsg "error"
|
|
|
ParameterUnderflowMsg "none"
|
|
|
ParameterPrecisionLossMsg "warning"
|
|
|
ParameterTunabilityLossMsg "warning"
|
|
|
FixptConstUnderflowMsg "none"
|
|
|
FixptConstOverflowMsg "none"
|
|
|
FixptConstPrecisionLossMsg "none"
|
|
|
UnderSpecifiedDataTypeMsg "none"
|
|
|
UnnecessaryDatatypeConvMsg "none"
|
|
|
VectorMatrixConversionMsg "none"
|
|
|
InvalidFcnCallConnMsg "error"
|
|
|
FcnCallInpInsideContextMsg "error"
|
|
|
SignalLabelMismatchMsg "none"
|
|
|
UnconnectedInputMsg "warning"
|
|
|
UnconnectedOutputMsg "warning"
|
|
|
UnconnectedLineMsg "warning"
|
|
|
UseOnlyExistingSharedCode "error"
|
|
|
SFcnCompatibilityMsg "none"
|
|
|
FrameProcessingCompatibilityMsg "error"
|
|
|
UniqueDataStoreMsg "none"
|
|
|
BusObjectLabelMismatch "warning"
|
|
|
RootOutportRequireBusObject "warning"
|
|
|
AssertControl "UseLocalSettings"
|
|
|
AllowSymbolicDim on
|
|
|
RowMajorDimensionSupport off
|
|
|
ModelReferenceIOMsg "none"
|
|
|
ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
|
|
|
ModelReferenceVersionMismatchMessage "none"
|
|
|
ModelReferenceIOMismatchMessage "none"
|
|
|
UnknownTsInhSupMsg "warning"
|
|
|
ModelReferenceDataLoggingMessage "warning"
|
|
|
ModelReferenceSymbolNameMessage "warning"
|
|
|
ModelReferenceExtraNoncontSigs "error"
|
|
|
StateNameClashWarn "none"
|
|
|
SimStateInterfaceChecksumMismatchMsg "warning"
|
|
|
SimStateOlderReleaseMsg "error"
|
|
|
ChecksumConsistencyForSSReuse "none"
|
|
|
LibraryContextMissingDiagnostic "warning"
|
|
|
MatchCodeGenerationContextForUpdateDiagram "none"
|
|
|
InitInArrayFormatMsg "warning"
|
|
|
StrictBusMsg "ErrorLevel1"
|
|
|
BusNameAdapt "WarnAndRepair"
|
|
|
NonBusSignalsTreatedAsBus "none"
|
|
|
SymbolicDimMinMaxWarning "warning"
|
|
|
LossOfSymbolicDimsSimulationWarning "warning"
|
|
|
LossOfSymbolicDimsCodeGenerationWarning "error"
|
|
|
SymbolicDimsDataTypeCodeGenerationDiagnostic "error"
|
|
|
BlockIODiagnostic "none"
|
|
|
SFUnusedDataAndEventsDiag "warning"
|
|
|
SFUnexpectedBacktrackingDiag "warning"
|
|
|
SFInvalidInputDataAccessInChartInitDiag "warning"
|
|
|
SFNoUnconditionalDefaultTransitionDiag "warning"
|
|
|
SFTransitionOutsideNaturalParentDiag "warning"
|
|
|
SFUnreachableExecutionPathDiag "warning"
|
|
|
SFUndirectedBroadcastEventsDiag "warning"
|
|
|
SFTransitionActionBeforeConditionDiag "warning"
|
|
|
SFOutputUsedAsStateInMooreChartDiag "error"
|
|
|
SFTemporalDelaySmallerThanSampleTimeDiag "warning"
|
|
|
SFSelfTransitionDiag "warning"
|
|
|
SFExecutionAtInitializationDiag "none"
|
|
|
SFMachineParentedDataDiag "warning"
|
|
|
IntegerSaturationMsg "warning"
|
|
|
AllowedUnitSystems "all"
|
|
|
UnitsInconsistencyMsg "warning"
|
|
|
AllowAutomaticUnitConversions on
|
|
|
RCSCRenamedMsg "warning"
|
|
|
RCSCObservableMsg "warning"
|
|
|
ForceCombineOutputUpdateInSim off
|
|
|
UnitDatabase ""
|
|
|
UnderSpecifiedDimensionMsg "none"
|
|
|
}
|
|
|
Simulink.HardwareCC {
|
|
|
$ObjectID 23
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
ProdBitPerChar 8
|
|
|
ProdBitPerShort 16
|
|
|
ProdBitPerInt 32
|
|
|
ProdBitPerLong 32
|
|
|
ProdBitPerLongLong 64
|
|
|
ProdBitPerFloat 32
|
|
|
ProdBitPerDouble 64
|
|
|
ProdBitPerPointer 32
|
|
|
ProdBitPerSizeT 32
|
|
|
ProdBitPerPtrDiffT 32
|
|
|
ProdLargestAtomicInteger "Char"
|
|
|
ProdLargestAtomicFloat "None"
|
|
|
ProdIntDivRoundTo "Undefined"
|
|
|
ProdEndianess "Unspecified"
|
|
|
ProdWordSize 32
|
|
|
ProdShiftRightIntArith on
|
|
|
ProdLongLongMode off
|
|
|
ProdHWDeviceType "32-bit Generic"
|
|
|
TargetBitPerChar 8
|
|
|
TargetBitPerShort 16
|
|
|
TargetBitPerInt 32
|
|
|
TargetBitPerLong 32
|
|
|
TargetBitPerLongLong 64
|
|
|
TargetBitPerFloat 32
|
|
|
TargetBitPerDouble 64
|
|
|
TargetBitPerPointer 64
|
|
|
TargetBitPerSizeT 64
|
|
|
TargetBitPerPtrDiffT 64
|
|
|
TargetLargestAtomicInteger "Char"
|
|
|
TargetLargestAtomicFloat "None"
|
|
|
TargetShiftRightIntArith on
|
|
|
TargetLongLongMode on
|
|
|
TargetIntDivRoundTo "Zero"
|
|
|
TargetEndianess "LittleEndian"
|
|
|
TargetWordSize 64
|
|
|
TargetPreprocMaxBitsSint 32
|
|
|
TargetPreprocMaxBitsUint 32
|
|
|
TargetHWDeviceType "MATLAB Host"
|
|
|
TargetUnknown off
|
|
|
ProdEqTarget off
|
|
|
UseEmbeddedCoderFeatures on
|
|
|
UseSimulinkCoderFeatures on
|
|
|
}
|
|
|
Simulink.ModelReferenceCC {
|
|
|
$ObjectID 24
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
|
|
|
EnableRefExpFcnMdlSchedulingChecks on
|
|
|
CheckModelReferenceTargetMessage "error"
|
|
|
EnableParallelModelReferenceBuilds off
|
|
|
ParallelModelReferenceErrorOnInvalidPool on
|
|
|
ParallelModelReferenceMATLABWorkerInit "None"
|
|
|
ModelReferenceNumInstancesAllowed "Multi"
|
|
|
PropagateVarSize "Infer from blocks in model"
|
|
|
ModelDependencies ""
|
|
|
ModelReferencePassRootInputsByReference on
|
|
|
ModelReferenceMinAlgLoopOccurrences off
|
|
|
PropagateSignalLabelsOutOfModel off
|
|
|
SupportModelReferenceSimTargetCustomCode off
|
|
|
}
|
|
|
Simulink.SFSimCC {
|
|
|
$ObjectID 25
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
SimCustomSourceCode ""
|
|
|
SimCustomHeaderCode ""
|
|
|
SimCustomInitializer ""
|
|
|
SimCustomTerminator ""
|
|
|
SimReservedNameArray []
|
|
|
SimUserSources ""
|
|
|
SimUserIncludeDirs ""
|
|
|
SimUserLibraries ""
|
|
|
SimUserDefines ""
|
|
|
SimCustomCompilerFlags ""
|
|
|
SimCustomLinkerFlags ""
|
|
|
SFSimEcho on
|
|
|
SimCtrlC on
|
|
|
SimIntegrity on
|
|
|
SimUseLocalCustomCode off
|
|
|
SimParseCustomCode on
|
|
|
SimAnalyzeCustomCode off
|
|
|
SimBuildMode "sf_incremental_build"
|
|
|
SimGenImportedTypeDefs off
|
|
|
ModelFunctionsGlobalVisibility "on"
|
|
|
CompileTimeRecursionLimit 50
|
|
|
EnableRuntimeRecursion on
|
|
|
MATLABDynamicMemAlloc on
|
|
|
MATLABDynamicMemAllocThreshold 65536
|
|
|
CustomCodeFunctionArrayLayout []
|
|
|
DefaultCustomCodeFunctionArrayLayout "NotSpecified"
|
|
|
}
|
|
|
Simulink.RTWCC {
|
|
|
$BackupClass "Simulink.RTWCC"
|
|
|
$ObjectID 26
|
|
|
Version "1.18.1"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 16
|
|
|
Cell "IncludeHyperlinkInReport"
|
|
|
Cell "GenerateTraceInfo"
|
|
|
Cell "GenerateTraceReport"
|
|
|
Cell "GenerateTraceReportSl"
|
|
|
Cell "GenerateTraceReportSf"
|
|
|
Cell "GenerateTraceReportEml"
|
|
|
Cell "PortableWordSizes"
|
|
|
Cell "GenerateWebview"
|
|
|
Cell "GenerateCodeMetricsReport"
|
|
|
Cell "GenerateCodeReplacementReport"
|
|
|
Cell "GenerateErtSFunction"
|
|
|
Cell "CreateSILPILBlock"
|
|
|
Cell "CodeExecutionProfiling"
|
|
|
Cell "CodeProfilingSaveOptions"
|
|
|
Cell "CodeProfilingInstrumentation"
|
|
|
Cell "GenerateMissedCodeReplacementReport"
|
|
|
PropName "DisabledProps"
|
|
|
}
|
|
|
SystemTargetFile "rsim.tlc"
|
|
|
HardwareBoard "None"
|
|
|
TLCOptions ""
|
|
|
GenCodeOnly off
|
|
|
MakeCommand "make_rtw"
|
|
|
GenerateMakefile on
|
|
|
PackageGeneratedCodeAndArtifacts off
|
|
|
PackageName ""
|
|
|
TemplateMakefile "rsim_default_tmf"
|
|
|
PostCodeGenCommand ""
|
|
|
Description ""
|
|
|
GenerateReport off
|
|
|
RTWVerbose on
|
|
|
RetainRTWFile off
|
|
|
RTWBuildHooks []
|
|
|
ProfileTLC off
|
|
|
TLCDebug off
|
|
|
TLCCoverage off
|
|
|
TLCAssert off
|
|
|
RTWUseLocalCustomCode off
|
|
|
RTWUseSimCustomCode off
|
|
|
CustomSourceCode ""
|
|
|
CustomHeaderCode ""
|
|
|
CustomInclude ""
|
|
|
CustomSource ""
|
|
|
CustomLibrary ""
|
|
|
CustomDefine ""
|
|
|
CustomBLASCallback ""
|
|
|
CustomLAPACKCallback ""
|
|
|
CustomFFTCallback ""
|
|
|
CustomInitializer ""
|
|
|
CustomTerminator ""
|
|
|
Toolchain "Automatically locate an installed toolchain"
|
|
|
BuildConfiguration "Faster Builds"
|
|
|
CustomToolchainOptions []
|
|
|
IncludeHyperlinkInReport off
|
|
|
LaunchReport off
|
|
|
PortableWordSizes off
|
|
|
CreateSILPILBlock "None"
|
|
|
CodeExecutionProfiling off
|
|
|
CodeExecutionProfileVariable "executionProfile"
|
|
|
CodeProfilingSaveOptions "SummaryOnly"
|
|
|
CodeProfilingInstrumentation "off"
|
|
|
SILDebugging off
|
|
|
TargetLang "C"
|
|
|
IncludeBusHierarchyInRTWFileBlockHierarchyMap off
|
|
|
GenerateTraceInfo off
|
|
|
GenerateTraceReport off
|
|
|
GenerateTraceReportSl off
|
|
|
GenerateTraceReportSf off
|
|
|
GenerateTraceReportEml off
|
|
|
GenerateWebview off
|
|
|
GenerateCodeMetricsReport off
|
|
|
GenerateCodeReplacementReport off
|
|
|
GenerateMissedCodeReplacementReport off
|
|
|
RTWCompilerOptimization "off"
|
|
|
ObjectivePriorities []
|
|
|
RTWCustomCompilerOptimizations ""
|
|
|
CheckMdlBeforeBuild "Off"
|
|
|
SharedConstantsCachingThreshold 1024
|
|
|
Array {
|
|
|
Type "Handle"
|
|
|
Dimension 2
|
|
|
Simulink.CodeAppCC {
|
|
|
$ObjectID 27
|
|
|
Version "1.18.1"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 28
|
|
|
Cell "IgnoreCustomStorageClasses"
|
|
|
Cell "IgnoreTestpoints"
|
|
|
Cell "InsertBlockDesc"
|
|
|
Cell "InsertPolySpaceComments"
|
|
|
Cell "SFDataObjDesc"
|
|
|
Cell "MATLABFcnDesc"
|
|
|
Cell "SimulinkDataObjDesc"
|
|
|
Cell "DefineNamingRule"
|
|
|
Cell "SignalNamingRule"
|
|
|
Cell "ParamNamingRule"
|
|
|
Cell "InternalIdentifier"
|
|
|
Cell "InlinedPrmAccess"
|
|
|
Cell "CustomSymbolStr"
|
|
|
Cell "CustomSymbolStrGlobalVar"
|
|
|
Cell "CustomSymbolStrType"
|
|
|
Cell "CustomSymbolStrField"
|
|
|
Cell "CustomSymbolStrFcn"
|
|
|
Cell "CustomSymbolStrFcnArg"
|
|
|
Cell "CustomSymbolStrBlkIO"
|
|
|
Cell "CustomSymbolStrTmpVar"
|
|
|
Cell "CustomSymbolStrMacro"
|
|
|
Cell "CustomSymbolStrUtil"
|
|
|
Cell "ReqsInCode"
|
|
|
Cell "BlockCommentType"
|
|
|
Cell "CustomSymbolStrModelFcn"
|
|
|
Cell "CustomSymbolStrEmxType"
|
|
|
Cell "CustomSymbolStrEmxFcn"
|
|
|
Cell "CustomUserTokenString"
|
|
|
PropName "DisabledProps"
|
|
|
}
|
|
|
Description ""
|
|
|
Comment ""
|
|
|
ForceParamTrailComments off
|
|
|
GenerateComments on
|
|
|
CommentStyle "Auto"
|
|
|
IgnoreCustomStorageClasses on
|
|
|
IgnoreTestpoints off
|
|
|
MaxIdLength 31
|
|
|
PreserveName off
|
|
|
PreserveNameWithParent off
|
|
|
ShowEliminatedStatement off
|
|
|
OperatorAnnotations off
|
|
|
SimulinkDataObjDesc off
|
|
|
SFDataObjDesc off
|
|
|
MATLABFcnDesc off
|
|
|
MangleLength 1
|
|
|
SharedChecksumLength 8
|
|
|
CustomSymbolStrGlobalVar "$R$N$M"
|
|
|
CustomSymbolStrType "$N$R$M_T"
|
|
|
CustomSymbolStrField "$N$M"
|
|
|
CustomSymbolStrFcn "$R$N$M$F"
|
|
|
CustomSymbolStrModelFcn "$R$N"
|
|
|
CustomSymbolStrFcnArg "rt$I$N$M"
|
|
|
CustomSymbolStrBlkIO "rtb_$N$M"
|
|
|
CustomSymbolStrTmpVar "$N$M"
|
|
|
CustomSymbolStrMacro "$R$N$M"
|
|
|
CustomSymbolStrUtil "$N$C"
|
|
|
CustomSymbolStrEmxType "emxArray_$M$N"
|
|
|
CustomSymbolStrEmxFcn "emx$M$N"
|
|
|
CustomUserTokenString ""
|
|
|
CustomCommentsFcn ""
|
|
|
DefineNamingRule "None"
|
|
|
DefineNamingFcn ""
|
|
|
ParamNamingRule "None"
|
|
|
ParamNamingFcn ""
|
|
|
SignalNamingRule "None"
|
|
|
SignalNamingFcn ""
|
|
|
InsertBlockDesc off
|
|
|
InsertPolySpaceComments off
|
|
|
SimulinkBlockComments on
|
|
|
BlockCommentType "BlockPathComment"
|
|
|
StateflowObjectComments on
|
|
|
MATLABSourceComments off
|
|
|
EnableCustomComments off
|
|
|
InternalIdentifierFile ""
|
|
|
InternalIdentifier "Shortened"
|
|
|
InlinedPrmAccess "Literals"
|
|
|
ReqsInCode off
|
|
|
UseSimReservedNames off
|
|
|
ReservedNameArray []
|
|
|
}
|
|
|
Simulink.TargetCC {
|
|
|
$BackupClass "Simulink.TargetCC"
|
|
|
$ObjectID 28
|
|
|
Version "1.18.1"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 18
|
|
|
Cell "GeneratePreprocessorConditionals"
|
|
|
Cell "IncludeMdlTerminateFcn"
|
|
|
Cell "SupportNonInlinedSFcns"
|
|
|
Cell "SuppressErrorStatus"
|
|
|
Cell "ERTCustomFileBanners"
|
|
|
Cell "GenerateSampleERTMain"
|
|
|
Cell "GenerateTestInterfaces"
|
|
|
Cell "ModelStepFunctionPrototypeControlCompliant"
|
|
|
Cell "CPPClassGenCompliant"
|
|
|
Cell "GenerateAllocFcn"
|
|
|
Cell "PurelyIntegerCode"
|
|
|
Cell "SupportComplex"
|
|
|
Cell "SupportAbsoluteTime"
|
|
|
Cell "SupportContinuousTime"
|
|
|
Cell "PreserveStateflowLocalDataDimensions"
|
|
|
Cell "ExistingSharedCode"
|
|
|
Cell "RemoveDisableFunc"
|
|
|
Cell "RemoveResetFunc"
|
|
|
PropName "DisabledProps"
|
|
|
}
|
|
|
Description ""
|
|
|
TargetFcnLib "ansi_tfl_table_tmw.mat"
|
|
|
TargetLibSuffix ""
|
|
|
TargetPreCompLibLocation ""
|
|
|
GenFloatMathFcnCalls "NOT IN USE"
|
|
|
TargetLangStandard "C89/C90 (ANSI)"
|
|
|
CodeReplacementLibrary "None"
|
|
|
UtilityFuncGeneration "Auto"
|
|
|
MultiwordTypeDef "System defined"
|
|
|
MultiwordLength 2048
|
|
|
DynamicStringBufferSize 256
|
|
|
GenerateFullHeader on
|
|
|
InferredTypesCompatibility off
|
|
|
ExistingSharedCode ""
|
|
|
GenerateSampleERTMain off
|
|
|
GenerateTestInterfaces off
|
|
|
ModelReferenceCompliant on
|
|
|
ParMdlRefBuildCompliant on
|
|
|
CompOptLevelCompliant on
|
|
|
ConcurrentExecutionCompliant on
|
|
|
IncludeMdlTerminateFcn on
|
|
|
GeneratePreprocessorConditionals "Disable all"
|
|
|
CombineOutputUpdateFcns off
|
|
|
CombineSignalStateStructs off
|
|
|
GroupInternalDataByFunction off
|
|
|
SuppressErrorStatus off
|
|
|
IncludeFileDelimiter "Auto"
|
|
|
ERTCustomFileBanners off
|
|
|
SupportAbsoluteTime on
|
|
|
LogVarNameModifier "rt_"
|
|
|
MatFileLogging on
|
|
|
MultiInstanceERTCode off
|
|
|
CodeInterfacePackaging "Nonreusable function"
|
|
|
PurelyIntegerCode off
|
|
|
SupportNonFinite on
|
|
|
SupportComplex on
|
|
|
SupportContinuousTime on
|
|
|
SupportNonInlinedSFcns on
|
|
|
RemoveDisableFunc off
|
|
|
RemoveResetFunc off
|
|
|
SupportVariableSizeSignals off
|
|
|
ParenthesesLevel "Nominal"
|
|
|
CastingMode "Nominal"
|
|
|
PreserveStateflowLocalDataDimensions off
|
|
|
MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.TargetSpecificTriggerConfigurationBase"
|
|
|
ModelStepFunctionPrototypeControlCompliant off
|
|
|
CPPClassGenCompliant off
|
|
|
AutosarCompliant off
|
|
|
MDXCompliant off
|
|
|
GRTInterface on
|
|
|
GenerateAllocFcn off
|
|
|
UseToolchainInfoCompliant off
|
|
|
GenerateSharedConstants on
|
|
|
CoderGroups []
|
|
|
AccessMethods []
|
|
|
LookupTableObjectStructAxisOrder "1,2,3,4,..."
|
|
|
LUTObjectStructOrderExplicitValues "Size,Breakpoints,Table"
|
|
|
LUTObjectStructOrderEvenSpacing "Size,Breakpoints,Table"
|
|
|
ArrayLayout "Column-major"
|
|
|
UnsupportedSFcnMsg "error"
|
|
|
ERTHeaderFileRootName "$R$E"
|
|
|
ERTSourceFileRootName "$R$E"
|
|
|
ERTDataFileRootName "$R_data"
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "RSIM_SOLVER_SELECTION"
|
|
|
Value "Auto"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtMode"
|
|
|
Value "off"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtModeTransport"
|
|
|
Value "0"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtModeStaticAlloc"
|
|
|
Value "off"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtModeStaticAllocSize"
|
|
|
Value "1000000"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtModeTesting"
|
|
|
Value "off"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtModeMexFile"
|
|
|
Value "ext_comm"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "ExtModeIntrfLevel"
|
|
|
Value "Level1"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "RSIM_PARAMETER_LOADING"
|
|
|
Value "on"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "RSIM_STORAGE_CLASS_AUTO"
|
|
|
Value "on"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "RTWCAPISignals"
|
|
|
Value "off"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "RTWCAPIParams"
|
|
|
Value "off"
|
|
|
}
|
|
|
CustomProperty {
|
|
|
DataType "string"
|
|
|
Name "RTWCAPIStates"
|
|
|
Value "off"
|
|
|
}
|
|
|
}
|
|
|
PropName "Components"
|
|
|
}
|
|
|
}
|
|
|
SlCovCC.ConfigComp {
|
|
|
$ObjectID 29
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description "Simulink Coverage Configuration Component"
|
|
|
Name "Simulink Coverage"
|
|
|
CovEnable off
|
|
|
CovScope "EntireSystem"
|
|
|
CovIncludeTopModel on
|
|
|
RecordCoverage off
|
|
|
CovPath "/"
|
|
|
CovSaveName "covdata"
|
|
|
CovCompData ""
|
|
|
CovMetricSettings "dw"
|
|
|
CovFilter ""
|
|
|
CovHTMLOptions ""
|
|
|
CovNameIncrementing off
|
|
|
CovHtmlReporting on
|
|
|
CovForceBlockReductionOff on
|
|
|
CovEnableCumulative on
|
|
|
CovSaveCumulativeToWorkspaceVar on
|
|
|
CovSaveSingleToWorkspaceVar on
|
|
|
CovCumulativeVarName "covCumulativeData"
|
|
|
CovCumulativeReport off
|
|
|
CovSaveOutputData on
|
|
|
CovOutputDir "slcov_output/$ModelName$"
|
|
|
CovDataFileName "$ModelName$_cvdata"
|
|
|
CovShowResultsExplorer on
|
|
|
CovReportOnPause on
|
|
|
CovModelRefEnable "off"
|
|
|
CovModelRefExcluded ""
|
|
|
CovExternalEMLEnable off
|
|
|
CovSFcnEnable off
|
|
|
CovBoundaryAbsTol 1e-05
|
|
|
CovBoundaryRelTol 0.01
|
|
|
CovUseTimeInterval off
|
|
|
CovStartTime 0
|
|
|
CovStopTime 0
|
|
|
CovMcdcMode "Masking"
|
|
|
}
|
|
|
SSC.SimscapeCC {
|
|
|
$ObjectID 30
|
|
|
Version "1.0"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
Array {
|
|
|
Type "Handle"
|
|
|
Dimension 2
|
|
|
MECH.SimMechanicsCC {
|
|
|
$ObjectID 31
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description ""
|
|
|
Name "SimscapeMultibody1G"
|
|
|
WarnOnRedundantConstraints on
|
|
|
WarnOnSingularInitialAssembly off
|
|
|
ShowCutJoints off
|
|
|
VisOnUpdateDiagram off
|
|
|
VisDuringSimulation off
|
|
|
EnableVisSimulationTime on
|
|
|
VisSampleTime "0"
|
|
|
DisableBodyVisControl off
|
|
|
ShowCG on
|
|
|
ShowCS on
|
|
|
ShowOnlyPortCS off
|
|
|
HighlightModel on
|
|
|
FramesToBeSkipped "0"
|
|
|
AnimationDelay "3"
|
|
|
RecordAVI off
|
|
|
CompressAVI on
|
|
|
AviFileName ""
|
|
|
AutoFitVis "off"
|
|
|
EnableSelection on
|
|
|
LastVizWinPosition "[-1 -1 -1 -1]"
|
|
|
CamPosition "[0 0 0]"
|
|
|
CamTarget "[0 0 -1]"
|
|
|
CamUpVector "[0 1 0]"
|
|
|
CamHeight "-1"
|
|
|
CamViewAngle "0"
|
|
|
VisBackgroundColor "[0.9 0.9 0.95]"
|
|
|
DefaultBodyColor "[1 0 0]"
|
|
|
MDLBodyVisualizationType "Convex hull from body CS locations"
|
|
|
OVRRIDBodyVisualizationType "NONE"
|
|
|
VisConfigFile ""
|
|
|
}
|
|
|
simmechanics.ConfigurationSet {
|
|
|
$ObjectID 32
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description "Simscape Multibody"
|
|
|
Array {
|
|
|
Type "Handle"
|
|
|
Dimension 2
|
|
|
simmechanics.DiagnosticsConfigSet {
|
|
|
$ObjectID 33
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description "Diagnostics"
|
|
|
Name "DiagnosticsConfigSet"
|
|
|
SimMechanicsInvalidVisualProperty "warning"
|
|
|
SimMechanicsCrossSectionNullEdge "warning"
|
|
|
SimMechanicsUnconnectedFramePorts "warning"
|
|
|
SimMechanicsUnconnectedGeometryPorts "warning"
|
|
|
SimMechanicsRedundantBlock "warning"
|
|
|
SimMechanicsConflictingReferenceFrames "warning"
|
|
|
SimMechanicsRigidlyBoundBlock "error"
|
|
|
SimMechanicsUnsatisfiedHighPriorityTargets "warning"
|
|
|
SimMechanicsJointTargetOverSpecification "error"
|
|
|
}
|
|
|
simmechanics.ExplorerConfigSet {
|
|
|
$ObjectID 34
|
|
|
Version "1.18.1"
|
|
|
DisabledProps []
|
|
|
Description "Explorer"
|
|
|
Name "ExplorerConfigSet"
|
|
|
SimMechanicsOpenEditorOnUpdate on
|
|
|
InternalSimMechanicsExplorerSettings ""
|
|
|
}
|
|
|
PropName "Components"
|
|
|
}
|
|
|
Name "SimscapeMultibody"
|
|
|
}
|
|
|
PropName "Components"
|
|
|
}
|
|
|
Name "Simscape"
|
|
|
EditingMode "Full"
|
|
|
ExplicitSolverDiagnosticOptions "warning"
|
|
|
GlobalZcOffDiagnosticOptions "warning"
|
|
|
SimscapeNormalizeSystem on
|
|
|
SimscapeNominalValues "[{\"value\":\"1\",\"unit\":\"A\"},{\"value\":\"1\",\"unit\":\"bar\"},{\"value\":\"1\",\"un"
|
|
|
"it\":\"cm^2\"},{\"value\":\"1\",\"unit\":\"cm^3/s\"},{\"value\":\"1\",\"unit\":\"kJ/kg\"},{\"value\":\"1\",\"unit\""
|
|
|
":\"kW\"},{\"value\":\"1\",\"unit\":\"l\"},{\"value\":\"1\",\"unit\":\"N\"},{\"value\":\"1\",\"unit\":\"N*m\"},{\"va"
|
|
|
"lue\":\"1\",\"unit\":\"V\"}]"
|
|
|
SimscapeLogType "none"
|
|
|
SimscapeLogSimulationStatistics off
|
|
|
SimscapeLogToSDI off
|
|
|
SimscapeLogOpenViewer off
|
|
|
SimscapeLogName "simlog"
|
|
|
SimscapeLogDecimation 1
|
|
|
SimscapeLogLimitData on
|
|
|
SimscapeLogDataHistory 5000
|
|
|
SimscapeUseOperatingPoints off
|
|
|
SimscapeOperatingPoint ""
|
|
|
SelectedTab ""
|
|
|
}
|
|
|
PropName "Components"
|
|
|
}
|
|
|
Name "Configuration"
|
|
|
ExtraOptions "-aEnforceIntegerDowncast=0 -aPrefixModelToSubsysFcnNames=1 "
|
|
|
CurrentDlgPage "Solver"
|
|
|
ConfigPrmDlgPosition [ 100, 71, 1180, 711 ]
|
|
|
}
|
|
|
PropName "ConfigurationSets"
|
|
|
}
|
|
|
Simulink.ConfigSet {
|
|
|
$PropName "ActiveConfigurationSet"
|
|
|
$ObjectID 18
|
|
|
}
|
|
|
Object {
|
|
|
$PropName "DataTransfer"
|
|
|
$ObjectID 35
|
|
|
$ClassName "Simulink.GlobalDataTransfer"
|
|
|
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
|
|
|
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
|
|
|
DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)"
|
|
|
DefaultExtrapolationMethodBetweenContTasks "None"
|
|
|
AutoInsertRateTranBlk [0]
|
|
|
}
|
|
|
ExplicitPartitioning off
|
|
|
BlockDefaults {
|
|
|
ForegroundColor "black"
|
|
|
BackgroundColor "white"
|
|
|
DropShadow off
|
|
|
NamePlacement "normal"
|
|
|
FontName "Helvetica"
|
|
|
FontSize 10
|
|
|
FontWeight "normal"
|
|
|
FontAngle "normal"
|
|
|
ShowName on
|
|
|
HideAutomaticName on
|
|
|
BlockRotation 0
|
|
|
BlockMirror off
|
|
|
}
|
|
|
AnnotationDefaults {
|
|
|
HorizontalAlignment "center"
|
|
|
VerticalAlignment "middle"
|
|
|
ForegroundColor "black"
|
|
|
BackgroundColor "white"
|
|
|
DropShadow off
|
|
|
FontName "Helvetica"
|
|
|
FontSize 10
|
|
|
FontWeight "normal"
|
|
|
FontAngle "normal"
|
|
|
MarkupType "model"
|
|
|
UseDisplayTextAsClickCallback off
|
|
|
AnnotationType "note_annotation"
|
|
|
FixedHeight off
|
|
|
FixedWidth off
|
|
|
Interpreter "off"
|
|
|
}
|
|
|
LineDefaults {
|
|
|
FontName "Helvetica"
|
|
|
FontSize 9
|
|
|
FontWeight "normal"
|
|
|
FontAngle "normal"
|
|
|
}
|
|
|
MaskDefaults {
|
|
|
SelfModifiable "off"
|
|
|
IconFrame "on"
|
|
|
IconOpaque "opaque"
|
|
|
RunInitForIconRedraw "analyze"
|
|
|
IconRotate "none"
|
|
|
PortRotate "default"
|
|
|
IconUnits "autoscale"
|
|
|
}
|
|
|
MaskParameterDefaults {
|
|
|
Evaluate "on"
|
|
|
Tunable "on"
|
|
|
NeverSave "off"
|
|
|
Internal "off"
|
|
|
ReadOnly "off"
|
|
|
Enabled "on"
|
|
|
Visible "on"
|
|
|
ToolTip "on"
|
|
|
}
|
|
|
BlockParameterDefaults {
|
|
|
Block {
|
|
|
BlockType Clock
|
|
|
DisplayTime off
|
|
|
Decimation "10"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
NumInputs "2"
|
|
|
Mode "Vector"
|
|
|
ConcatenateDimension "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Value "1"
|
|
|
VectorParams1D on
|
|
|
SamplingMode "Sample based"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Inherit from 'Constant value'"
|
|
|
LockScale off
|
|
|
SampleTime "inf"
|
|
|
FramePeriod "inf"
|
|
|
PreserveConstantTs off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Outputs "4"
|
|
|
DisplayOption "none"
|
|
|
BusSelectionMode off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
CoefficientInTFapproximation "inf"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType DiscreteFilter
|
|
|
NumeratorSource "Dialog"
|
|
|
Numerator "[1]"
|
|
|
DenominatorSource "Dialog"
|
|
|
Denominator "[1 0.5]"
|
|
|
InitialStatesSource "Dialog"
|
|
|
InitialStates "0"
|
|
|
InputProcessing "Elements as channels (sample based)"
|
|
|
ExternalReset "None"
|
|
|
InitialDenominatorStates "0"
|
|
|
FilterStructure "Direct form II"
|
|
|
SampleTime "-1"
|
|
|
a0EqualsOne off
|
|
|
NumCoefMin "[]"
|
|
|
NumCoefMax "[]"
|
|
|
DenCoefMin "[]"
|
|
|
DenCoefMax "[]"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
StateDataTypeStr "Inherit: Same as input"
|
|
|
MultiplicandDataTypeStr "Inherit: Same as input"
|
|
|
NumCoefDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
DenCoefDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
NumProductDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
DenProductDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
NumAccumDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
DenAccumDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
StateMustResolveToSignalObject off
|
|
|
RTWStateStorageClass "Auto"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Display
|
|
|
Format "short"
|
|
|
Decimation "10"
|
|
|
Floating off
|
|
|
Lockdown off
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType DotProduct
|
|
|
InputSameDT on
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Same as first input"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Expr "sin(u[1])"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
GotoTag "A"
|
|
|
IconDisplay "Tag"
|
|
|
TagVisibility "local"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Gain "1"
|
|
|
Multiplication "Element-wise(K.*u)"
|
|
|
ParamMin "[]"
|
|
|
ParamMax "[]"
|
|
|
ParamDataTypeStr "Inherit: Same as input"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Same as input"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
SaturateOnIntegerOverflow on
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
GotoTag "A"
|
|
|
IconDisplay "Tag"
|
|
|
TagVisibility "local"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Port "1"
|
|
|
OutputFunctionCall off
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: auto"
|
|
|
LockScale off
|
|
|
BusOutputAsStruct off
|
|
|
Unit "inherit"
|
|
|
PortDimensions "-1"
|
|
|
VarSizeSig "Inherit"
|
|
|
SampleTime "-1"
|
|
|
SignalType "auto"
|
|
|
SamplingMode "auto"
|
|
|
LatchByDelayingOutsideSignal off
|
|
|
LatchInputForFeedbackSignals off
|
|
|
Interpolate on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
ExternalReset "none"
|
|
|
InitialConditionSource "internal"
|
|
|
InitialCondition "0"
|
|
|
LimitOutput off
|
|
|
UpperSaturationLimit "inf"
|
|
|
LowerSaturationLimit "-inf"
|
|
|
WrapState off
|
|
|
WrappedStateUpperValue "pi"
|
|
|
WrappedStateLowerValue "-pi"
|
|
|
ShowSaturationPort off
|
|
|
ShowStatePort off
|
|
|
AbsoluteTolerance "auto"
|
|
|
IgnoreLimit off
|
|
|
ZeroCross on
|
|
|
ContinuousStateAttributes "''"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType MATLABFcn
|
|
|
MATLABFcn "sin"
|
|
|
OutputDimensions "-1"
|
|
|
OutputSignalType "auto"
|
|
|
Output1D on
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Operator "exp"
|
|
|
OutputSignalType "auto"
|
|
|
SampleTime "-1"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Same as first input"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
SaturateOnIntegerOverflow on
|
|
|
IntermediateResultsDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
AlgorithmType "Newton-Raphson"
|
|
|
Iterations "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType MultiPortSwitch
|
|
|
DataPortOrder "One-based contiguous"
|
|
|
Inputs "3"
|
|
|
DataPortIndices "{1,2,3}"
|
|
|
DataPortForDefault "Last data port"
|
|
|
DiagnosticForDefault "Error"
|
|
|
zeroidx off
|
|
|
InputSameDT on
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
SaturateOnIntegerOverflow on
|
|
|
SampleTime "-1"
|
|
|
AllowDiffInputSizes off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Inputs "4"
|
|
|
DisplayOption "none"
|
|
|
UseBusObject off
|
|
|
BusObject "BusObject"
|
|
|
NonVirtualBus off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Port "1"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: auto"
|
|
|
LockScale off
|
|
|
BusOutputAsStruct off
|
|
|
Unit "inherit"
|
|
|
PortDimensions "-1"
|
|
|
VarSizeSig "Inherit"
|
|
|
SampleTime "-1"
|
|
|
SignalType "auto"
|
|
|
SamplingMode "auto"
|
|
|
EnsureOutportIsVirtual off
|
|
|
SourceOfInitialOutputValue "Dialog"
|
|
|
OutputWhenDisabled "held"
|
|
|
InitialOutput "[]"
|
|
|
MustResolveToSignalObject off
|
|
|
OutputWhenUnConnected off
|
|
|
OutputWhenUnconnectedValue "0"
|
|
|
VectorParamsAs1DForOutWhenUnconnected off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Inputs "2"
|
|
|
Multiplication "Element-wise(.*)"
|
|
|
CollapseMode "All dimensions"
|
|
|
CollapseDim "1"
|
|
|
InputSameDT on
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Same as first input"
|
|
|
LockScale off
|
|
|
RndMeth "Zero"
|
|
|
SaturateOnIntegerOverflow on
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType RandomNumber
|
|
|
Mean "0"
|
|
|
Variance "1"
|
|
|
Seed "0"
|
|
|
SampleTime "-1"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
OutputDimensionality "1-D array"
|
|
|
OutputDimensions "[1,1]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
UpperLimitSource "Dialog"
|
|
|
UpperLimit "0.5"
|
|
|
LowerLimitSource "Dialog"
|
|
|
LowerLimit "-0.5"
|
|
|
LinearizeAsGain on
|
|
|
ZeroCross on
|
|
|
SampleTime "-1"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Same as input"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
NumberOfDimensions "1"
|
|
|
IndexMode "One-based"
|
|
|
InputPortWidth "-1"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
ShowPortLabels "FromPortIcon"
|
|
|
Permissions "ReadWrite"
|
|
|
PermitHierarchicalResolution "All"
|
|
|
TreatAsAtomicUnit off
|
|
|
MinAlgLoopOccurrences off
|
|
|
PropExecContextOutsideSubsystem off
|
|
|
SystemSampleTime "-1"
|
|
|
RTWSystemCode "Auto"
|
|
|
RTWFcnNameOpts "Auto"
|
|
|
RTWFileNameOpts "Auto"
|
|
|
FunctionInterfaceSpec "void_void"
|
|
|
FunctionWithSeparateData off
|
|
|
RTWMemSecFuncInitTerm "Inherit from model"
|
|
|
RTWMemSecFuncExecute "Inherit from model"
|
|
|
RTWMemSecDataConstants "Inherit from model"
|
|
|
RTWMemSecDataInternal "Inherit from model"
|
|
|
RTWMemSecDataParameters "Inherit from model"
|
|
|
SimViewingDevice off
|
|
|
DataTypeOverride "UseLocalSettings"
|
|
|
DataTypeOverrideAppliesTo "AllNumericTypes"
|
|
|
MinMaxOverflowLogging "UseLocalSettings"
|
|
|
Opaque off
|
|
|
MaskHideContents off
|
|
|
SFBlockType "NONE"
|
|
|
VariantControlMode "Expression"
|
|
|
Variant off
|
|
|
GeneratePreprocessorConditionals off
|
|
|
AllowZeroVariantControls off
|
|
|
PropagateVariantConditions off
|
|
|
TreatAsGroupedWhenPropagatingVariantConditions on
|
|
|
ContentPreviewEnabled off
|
|
|
IsWebBlock off
|
|
|
IsObserver off
|
|
|
Latency "0"
|
|
|
AutoFrameSizeCalculation off
|
|
|
IsWebBlockPanel off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
IconShape "rectangular"
|
|
|
Inputs "++"
|
|
|
CollapseMode "All dimensions"
|
|
|
CollapseDim "1"
|
|
|
InputSameDT on
|
|
|
AccumDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutMin "[]"
|
|
|
OutMax "[]"
|
|
|
OutDataTypeStr "Inherit: Same as first input"
|
|
|
LockScale off
|
|
|
RndMeth "Floor"
|
|
|
SaturateOnIntegerOverflow on
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Terminator
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
VariableName "simulink_output"
|
|
|
MaxDataPoints "1000"
|
|
|
Decimation "1"
|
|
|
SaveFormat "Array"
|
|
|
Save2DSignal "Inherit from input (this choice will be removed - see release notes)"
|
|
|
FixptAsFi off
|
|
|
NumInputs "1"
|
|
|
SampleTime "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType TransferFcn
|
|
|
Numerator "[1]"
|
|
|
Denominator "[1 2 1]"
|
|
|
AbsoluteTolerance "auto"
|
|
|
ContinuousStateAttributes "''"
|
|
|
Realization "auto"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType UnitDelay
|
|
|
InitialCondition "0"
|
|
|
InputProcessing "Inherited"
|
|
|
SampleTime "1"
|
|
|
StateMustResolveToSignalObject off
|
|
|
CodeGenStateStorageClass "Auto"
|
|
|
HasFrameUpgradeWarning on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ZeroOrderHold
|
|
|
SampleTime "1"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "sat9_new"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 212
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
ReportName "simulink-default.rpt"
|
|
|
BlocksetDataString "[0 -9.81 0]|1|0|1e-3|1|1e-3|1|2|1e-4|1e-4|0|0|1|1e-5|Deprecated|0|0|0||1|0"
|
|
|
SIDHighWatermark "2822"
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Controller"
|
|
|
SID "1"
|
|
|
Ports [2, 2]
|
|
|
Position [450, 247, 560, 418]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 36
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\\n\\n<><6E>\\n\\nִ<6E>л<EFBFBD><D0BB><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Controller"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 212
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qe"
|
|
|
SID "2"
|
|
|
Position [185, 18, 215, 32]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "We"
|
|
|
SID "3"
|
|
|
Position [185, 53, 215, 67]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2822"
|
|
|
Position [730, 130, 760, 160]
|
|
|
ZOrder 2
|
|
|
Gain "-1"
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem2"
|
|
|
SID "221"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 8, 395, 77]
|
|
|
ZOrder -16
|
|
|
BackgroundColor "lightBlue"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 37
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD>\\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem2"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In1"
|
|
|
SID "341"
|
|
|
Position [30, 228, 60, 242]
|
|
|
ZOrder 13
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In2"
|
|
|
SID "342"
|
|
|
Position [30, 258, 60, 272]
|
|
|
ZOrder 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux4"
|
|
|
SID "343"
|
|
|
Ports [3, 1]
|
|
|
Position [380, 78, 425, 422]
|
|
|
ZOrder 11
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "PI Controller1"
|
|
|
SID "344"
|
|
|
Ports [2, 1]
|
|
|
Position [205, 220, 280, 280]
|
|
|
ZOrder 10
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
FontWeight "bold"
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 38
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Pitch\\nController')"
|
|
|
}
|
|
|
System {
|
|
|
Name "PI Controller1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "88"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q2"
|
|
|
SID "345"
|
|
|
Position [30, 30, 60, 50]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w2"
|
|
|
SID "346"
|
|
|
Position [30, 120, 60, 140]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType DiscreteFilter
|
|
|
Name "Filter"
|
|
|
SID "347"
|
|
|
Ports [1, 1]
|
|
|
Position [410, 69, 455, 101]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
Numerator "[T]"
|
|
|
Denominator "[1 -1]"
|
|
|
SampleTime "T"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "348"
|
|
|
Position [425, 28, 460, 52]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kpy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "349"
|
|
|
Position [425, 118, 460, 142]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kwy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "350"
|
|
|
Position [345, 73, 380, 97]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kpiy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation"
|
|
|
SID "351"
|
|
|
Ports [1, 1]
|
|
|
Position [190, 25, 220, 55]
|
|
|
ZOrder -7
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Qerror"
|
|
|
LowerLimit "-Qerror"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "352"
|
|
|
Ports [3, 1]
|
|
|
Position [500, 16, 525, 154]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Vy"
|
|
|
SID "353"
|
|
|
Position [570, 75, 590, 95]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Filter"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Filter"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "q2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Vy"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "w2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Saturation"
|
|
|
SrcPort 1
|
|
|
Points [95, 0]
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [0, 45]
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "PI Controller2"
|
|
|
SID "354"
|
|
|
Ports [2, 1]
|
|
|
Position [205, 105, 280, 165]
|
|
|
ZOrder 9
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
FontWeight "bold"
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 39
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Roll\\nController')"
|
|
|
}
|
|
|
System {
|
|
|
Name "PI Controller2"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q1"
|
|
|
SID "355"
|
|
|
Position [35, 30, 65, 50]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w1"
|
|
|
SID "356"
|
|
|
Position [35, 120, 65, 140]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType DiscreteFilter
|
|
|
Name "Filter"
|
|
|
SID "357"
|
|
|
Ports [1, 1]
|
|
|
Position [355, 69, 400, 101]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
Numerator "[T]"
|
|
|
Denominator "[1 -1]"
|
|
|
SampleTime "T"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "358"
|
|
|
Position [365, 28, 400, 52]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kpx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "359"
|
|
|
Position [365, 118, 400, 142]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kwx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "360"
|
|
|
Position [290, 73, 325, 97]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kpix"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation"
|
|
|
SID "361"
|
|
|
Ports [1, 1]
|
|
|
Position [150, 25, 180, 55]
|
|
|
ZOrder -7
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Qerror"
|
|
|
LowerLimit "-Qerror"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "362"
|
|
|
Ports [3, 1]
|
|
|
Position [440, 16, 465, 154]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Vx"
|
|
|
SID "363"
|
|
|
Position [515, 75, 535, 95]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Filter"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Filter"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "w1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Vx"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "q1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Saturation"
|
|
|
SrcPort 1
|
|
|
Points [75, 0]
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [0, 45]
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "PI Controller3"
|
|
|
SID "364"
|
|
|
Ports [2, 1]
|
|
|
Position [205, 335, 280, 395]
|
|
|
ZOrder 8
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
FontWeight "bold"
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 40
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Yaw\\nController')"
|
|
|
}
|
|
|
System {
|
|
|
Name "PI Controller3"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q2"
|
|
|
SID "365"
|
|
|
Position [30, 30, 60, 50]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w2"
|
|
|
SID "366"
|
|
|
Position [30, 120, 60, 140]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType DiscreteFilter
|
|
|
Name "Filter"
|
|
|
SID "367"
|
|
|
Ports [1, 1]
|
|
|
Position [330, 69, 375, 101]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
Numerator "[T]"
|
|
|
Denominator "[1 -1]"
|
|
|
SampleTime "T"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "368"
|
|
|
Position [335, 28, 370, 52]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kpz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "369"
|
|
|
Position [335, 118, 370, 142]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kwz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "370"
|
|
|
Position [265, 73, 300, 97]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Kpiz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation"
|
|
|
SID "371"
|
|
|
Ports [1, 1]
|
|
|
Position [140, 25, 170, 55]
|
|
|
ZOrder -7
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Qerror"
|
|
|
LowerLimit "-Qerror"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "372"
|
|
|
Ports [3, 1]
|
|
|
Position [410, 16, 435, 154]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Vz"
|
|
|
SID "373"
|
|
|
Position [525, 75, 545, 95]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "q2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Filter"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Filter"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "w2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Vz"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Saturation"
|
|
|
SrcPort 1
|
|
|
Points [60, 0]
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [0, 45]
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Unit Transform\n(T=10000GS) 1"
|
|
|
SID "374"
|
|
|
Position [150, 138, 180, 162]
|
|
|
ZOrder 7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "[1,0,0]"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Unit Transform\n(T=10000GS) 2"
|
|
|
SID "375"
|
|
|
Position [150, 253, 180, 277]
|
|
|
ZOrder 6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "[0,1,0]"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Unit Transform\n(T=10000GS) 3"
|
|
|
SID "376"
|
|
|
Position [150, 223, 180, 247]
|
|
|
ZOrder 5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "[0,0,1,0]"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Unit Transform\n(T=10000GS) 4"
|
|
|
SID "377"
|
|
|
Position [150, 108, 180, 132]
|
|
|
ZOrder 4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "[0,1,0,0]"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Unit Transform\n(T=10000GS) 5"
|
|
|
SID "378"
|
|
|
Position [150, 368, 180, 392]
|
|
|
ZOrder 3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "[0,0,1]"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Unit Transform\n(T=10000GS) 6"
|
|
|
SID "379"
|
|
|
Position [150, 338, 180, 362]
|
|
|
ZOrder 2
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "[0,0,0,1]"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out2"
|
|
|
SID "380"
|
|
|
Position [450, 243, 480, 257]
|
|
|
ZOrder 1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "In2"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Unit Transform\n(T=10000GS) 2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 115]
|
|
|
DstBlock "Unit Transform\n(T=10000GS) 5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 25
|
|
|
Points [0, -115]
|
|
|
DstBlock "Unit Transform\n(T=10000GS) 1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Unit Transform\n(T=10000GS) 3"
|
|
|
SrcPort 1
|
|
|
DstBlock "PI Controller1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "Unit Transform\n(T=10000GS) 4"
|
|
|
SrcPort 1
|
|
|
DstBlock "PI Controller2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 31
|
|
|
SrcBlock "PI Controller1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "Unit Transform\n(T=10000GS) 1"
|
|
|
SrcPort 1
|
|
|
DstBlock "PI Controller2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "Unit Transform\n(T=10000GS) 2"
|
|
|
SrcPort 1
|
|
|
DstBlock "PI Controller1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 34
|
|
|
SrcBlock "PI Controller2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 35
|
|
|
SrcBlock "Unit Transform\n(T=10000GS) 6"
|
|
|
SrcPort 1
|
|
|
DstBlock "PI Controller3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 36
|
|
|
SrcBlock "Mux4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 37
|
|
|
SrcBlock "PI Controller3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 38
|
|
|
SrcBlock "Unit Transform\n(T=10000GS) 5"
|
|
|
SrcPort 1
|
|
|
DstBlock "PI Controller3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 42
|
|
|
SrcBlock "In1"
|
|
|
SrcPort 1
|
|
|
Points [50, 0]
|
|
|
Branch {
|
|
|
ZOrder 41
|
|
|
Points [0, -115]
|
|
|
DstBlock "Unit Transform\n(T=10000GS) 4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 40
|
|
|
DstBlock "Unit Transform\n(T=10000GS) 3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 39
|
|
|
Points [0, 115]
|
|
|
DstBlock "Unit Transform\n(T=10000GS) 6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_c"
|
|
|
SID "385"
|
|
|
Ports [1]
|
|
|
Position [975, 74, 1005, 106]
|
|
|
ZOrder -19
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr."
|
|
|
"Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources"
|
|
|
"','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_c','DataLoggingSaveFormat','Array','DataLogg"
|
|
|
"ingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDis"
|
|
|
"plays',{struct('MinYLimReal','-0.25','MaxYLimReal','0.25','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.25"
|
|
|
"','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68"
|
|
|
"6274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529"
|
|
|
"411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058"
|
|
|
"823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>',"
|
|
|
"'LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Zero-Order Hold:1','Zero-Orde"
|
|
|
"r Hold:2','Zero-Order Hold:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','"
|
|
|
"-0.25','MaxYLimReal','0.25','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.25','LegendVisibility','off','XG"
|
|
|
"rid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.68627450980392"
|
|
|
"2 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.41176470588235"
|
|
|
"3 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0"
|
|
|
"588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'Us"
|
|
|
"erDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration"
|
|
|
"('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',true,'Version','201"
|
|
|
"8b')),'Version','2018b','Location',[1 66 1601 855])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ZeroOrderHold
|
|
|
Name "Zero-Order\nHold"
|
|
|
SID "386"
|
|
|
Position [855, 129, 875, 161]
|
|
|
ZOrder -20
|
|
|
ShowName off
|
|
|
SampleTime "T"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ZeroOrderHold
|
|
|
Name "Zero-Order\nHold1"
|
|
|
SID "387"
|
|
|
Position [855, 11, 875, 39]
|
|
|
ZOrder -21
|
|
|
ShowName off
|
|
|
SampleTime "T"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "wheel"
|
|
|
SID "1276"
|
|
|
Ports [1, 2]
|
|
|
Position [475, 4, 540, 91]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 41
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD>\\nģ<6E><C4A3>')\n"
|
|
|
IconUnits "normalized"
|
|
|
}
|
|
|
System {
|
|
|
Name "wheel"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In1"
|
|
|
SID "1277"
|
|
|
Position [-245, 248, -215, 262]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux1"
|
|
|
SID "1278"
|
|
|
Ports [1, 5]
|
|
|
Position [-50, 33, -5, 477]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 9
|
|
|
Outputs "5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From1"
|
|
|
SID "1279"
|
|
|
Position [360, 332, 395, 348]
|
|
|
ZOrder -3
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "TE"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From10"
|
|
|
SID "1280"
|
|
|
Position [360, 92, 395, 108]
|
|
|
ZOrder -4
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HC"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From11"
|
|
|
SID "1281"
|
|
|
Position [360, 127, 395, 143]
|
|
|
ZOrder -5
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HD"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From13"
|
|
|
SID "1283"
|
|
|
Position [355, 396, 400, 414]
|
|
|
ZOrder -7
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HBvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From14"
|
|
|
SID "1284"
|
|
|
Position [360, 261, 395, 279]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "TC"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From15"
|
|
|
SID "1285"
|
|
|
Position [355, 466, 400, 484]
|
|
|
ZOrder -9
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HDvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From16"
|
|
|
SID "1286"
|
|
|
Position [355, 361, 400, 379]
|
|
|
ZOrder -10
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HAvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From17"
|
|
|
SID "1287"
|
|
|
Position [355, 501, 400, 519]
|
|
|
ZOrder -11
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HEvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From3"
|
|
|
SID "1290"
|
|
|
Position [360, 226, 395, 244]
|
|
|
ZOrder -14
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "TB"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From4"
|
|
|
SID "1291"
|
|
|
Position [360, 162, 395, 178]
|
|
|
ZOrder -15
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HE"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From5"
|
|
|
SID "1292"
|
|
|
Position [355, 431, 400, 449]
|
|
|
ZOrder -16
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HCvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From6"
|
|
|
SID "1293"
|
|
|
Position [360, 297, 395, 313]
|
|
|
ZOrder -17
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "TD"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From7"
|
|
|
SID "1294"
|
|
|
Position [360, 191, 395, 209]
|
|
|
ZOrder -18
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "TA"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From8"
|
|
|
SID "1295"
|
|
|
Position [360, 22, 395, 38]
|
|
|
ZOrder -19
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HA"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From9"
|
|
|
SID "1296"
|
|
|
Position [360, 57, 395, 73]
|
|
|
ZOrder -20
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "HB"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2792"
|
|
|
Position [40, 150, 70, 180]
|
|
|
ZOrder 1
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2793"
|
|
|
Position [40, 420, 70, 450]
|
|
|
ZOrder 2
|
|
|
Gain "0"
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2794"
|
|
|
Position [40, 60, 70, 90]
|
|
|
ZOrder 3
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain3"
|
|
|
SID "2795"
|
|
|
Position [40, 240, 70, 270]
|
|
|
ZOrder 4
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain4"
|
|
|
SID "2796"
|
|
|
Position [40, 330, 70, 360]
|
|
|
ZOrder 5
|
|
|
Gain "0"
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto1"
|
|
|
SID "1297"
|
|
|
Position [225, 336, 260, 354]
|
|
|
ZOrder -21
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HD"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto10"
|
|
|
SID "1298"
|
|
|
Position [225, 156, 260, 174]
|
|
|
ZOrder -22
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HB"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto11"
|
|
|
SID "1299"
|
|
|
Position [210, 360, 260, 380]
|
|
|
ZOrder -23
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HDvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto12"
|
|
|
SID "1300"
|
|
|
Position [225, 311, 260, 329]
|
|
|
ZOrder -24
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "TD"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto13"
|
|
|
SID "1301"
|
|
|
Position [225, 246, 260, 264]
|
|
|
ZOrder -25
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HC"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto14"
|
|
|
SID "1302"
|
|
|
Position [210, 270, 260, 290]
|
|
|
ZOrder -26
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HCvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto15"
|
|
|
SID "1303"
|
|
|
Position [210, 180, 260, 200]
|
|
|
ZOrder -27
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HBvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto16"
|
|
|
SID "1304"
|
|
|
Position [225, 221, 260, 239]
|
|
|
ZOrder -28
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "TC"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto17"
|
|
|
SID "1305"
|
|
|
Position [225, 426, 260, 444]
|
|
|
ZOrder -29
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HE"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto18"
|
|
|
SID "1306"
|
|
|
Position [210, 450, 260, 470]
|
|
|
ZOrder -30
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HEvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto19"
|
|
|
SID "1307"
|
|
|
Position [225, 401, 260, 419]
|
|
|
ZOrder -31
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "TE"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto5"
|
|
|
SID "1310"
|
|
|
Position [225, 41, 260, 59]
|
|
|
ZOrder -34
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "TA"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto6"
|
|
|
SID "1311"
|
|
|
Position [225, 66, 260, 84]
|
|
|
ZOrder -35
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HA"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto7"
|
|
|
SID "1312"
|
|
|
Position [210, 90, 260, 110]
|
|
|
ZOrder -36
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "HAvary"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto9"
|
|
|
SID "1314"
|
|
|
Position [225, 131, 260, 149]
|
|
|
ZOrder -38
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
GotoTag "TB"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain1"
|
|
|
SID "1315"
|
|
|
Position [595, 260, 625, 280]
|
|
|
ZOrder -39
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Dwheel"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain12"
|
|
|
SID "1316"
|
|
|
Position [-155, 237, -100, 273]
|
|
|
ZOrder -40
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Dwheel'*inv(Dwheel*Dwheel')"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain2"
|
|
|
SID "1317"
|
|
|
Position [595, 430, 625, 450]
|
|
|
ZOrder -41
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Dwheel"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain5"
|
|
|
SID "1318"
|
|
|
Position [595, 90, 625, 110]
|
|
|
ZOrder -42
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Dwheel"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "1319"
|
|
|
Ports [5, 1]
|
|
|
Position [495, 17, 525, 183]
|
|
|
ZOrder -43
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux2"
|
|
|
SID "1320"
|
|
|
Ports [5, 1]
|
|
|
Position [495, 357, 525, 523]
|
|
|
ZOrder -44
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux5"
|
|
|
SID "1321"
|
|
|
Ports [5, 1]
|
|
|
Position [495, 187, 525, 353]
|
|
|
ZOrder -45
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Terminator
|
|
|
Name "Terminator"
|
|
|
SID "2821"
|
|
|
Position [705, 430, 725, 450]
|
|
|
ZOrder 6
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "main_wheel1"
|
|
|
SID "1322"
|
|
|
Ports [1, 3]
|
|
|
Position [105, 129, 185, 201]
|
|
|
ZOrder -46
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial Black"
|
|
|
FontSize 15
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 42
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Wheel_B')"
|
|
|
}
|
|
|
System {
|
|
|
Name "main_wheel1"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Uc"
|
|
|
SID "1323"
|
|
|
Position [15, 95, 35, 115]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Baised Momentum"
|
|
|
SID "1324"
|
|
|
Position [615, 140, 645, 160]
|
|
|
ZOrder -2
|
|
|
BlockRotation 270
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "HmB"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "1325"
|
|
|
Position [735, 90, 765, 120]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1326"
|
|
|
Ports [1, 1]
|
|
|
Position [450, 90, 480, 120]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "1327"
|
|
|
Position [55, 94, 80, 116]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "3500/15"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "1328"
|
|
|
Position [140, 94, 165, 116]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "pi/30"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "1329"
|
|
|
Position [185, 94, 210, 116]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel/Tr"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional3"
|
|
|
SID "1330"
|
|
|
Position [405, 94, 430, 116]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "1/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional5"
|
|
|
SID "1331"
|
|
|
Position [735, 170, 765, 190]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "30/pi/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional6"
|
|
|
SID "1332"
|
|
|
Position [560, 95, 590, 115]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional7"
|
|
|
SID "1333"
|
|
|
Position [330, 170, 360, 190]
|
|
|
ZOrder -11
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "30/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation3"
|
|
|
SID "1334"
|
|
|
Ports [1, 1]
|
|
|
Position [235, 92, 260, 118]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Usaturate"
|
|
|
LowerLimit "-Usaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation4"
|
|
|
SID "1335"
|
|
|
Ports [1, 1]
|
|
|
Position [350, 92, 375, 118]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation5"
|
|
|
SID "1336"
|
|
|
Ports [1, 1]
|
|
|
Position [665, 92, 690, 118]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Hsaturate"
|
|
|
LowerLimit "-Hsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation6"
|
|
|
SID "1337"
|
|
|
Ports [1, 1]
|
|
|
Position [505, 92, 530, 118]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Wsaturate"
|
|
|
LowerLimit "-Wsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation7"
|
|
|
SID "1338"
|
|
|
Ports [1, 1]
|
|
|
Position [795, 92, 820, 118]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1339"
|
|
|
Ports [2, 1]
|
|
|
Position [95, 90, 115, 120]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|+-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "1340"
|
|
|
Ports [2, 1]
|
|
|
Position [620, 90, 640, 120]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace"
|
|
|
SID "1341"
|
|
|
Ports [1]
|
|
|
Position [818, 140, 852, 160]
|
|
|
ZOrder -19
|
|
|
BlockRotation 270
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
VariableName "Tcb"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace2"
|
|
|
SID "1342"
|
|
|
Ports [1]
|
|
|
Position [790, 170, 820, 190]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
VariableName "w_B"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType TransferFcn
|
|
|
Name "Transfer Fcn1"
|
|
|
SID "1343"
|
|
|
Position [285, 90, 320, 120]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Numerator "[Kr]"
|
|
|
Denominator "[Tr 1]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "TB"
|
|
|
SID "1344"
|
|
|
Position [855, 96, 880, 114]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HB"
|
|
|
SID "1345"
|
|
|
Position [750, 37, 775, 53]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HBvary"
|
|
|
SID "1346"
|
|
|
Position [620, 40, 640, 60]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Saturation3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Transfer Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Transfer Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Saturation4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Proportional3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Proportional5"
|
|
|
SrcPort 1
|
|
|
DstBlock "To Workspace2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Proportional6"
|
|
|
SrcPort 1
|
|
|
Points [0, 0]
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
Points [0, -55]
|
|
|
DstBlock "HBvary"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Baised Momentum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Saturation5"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 17
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
Points [0, -60]
|
|
|
DstBlock "HB"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Saturation7"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 22
|
|
|
DstBlock "TB"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "To Workspace"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "Saturation6"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 25
|
|
|
DstBlock "Proportional6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "Uc"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Proportional7"
|
|
|
SrcPort 1
|
|
|
Points [-220, 0]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1347"
|
|
|
Name "U_B"
|
|
|
Position [36, 125, 59, 152]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "main_wheel2"
|
|
|
SID "1348"
|
|
|
Ports [1, 3]
|
|
|
Position [105, 39, 185, 111]
|
|
|
ZOrder -47
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial Black"
|
|
|
FontSize 15
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 43
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Wheel_A')"
|
|
|
}
|
|
|
System {
|
|
|
Name "main_wheel2"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Uc"
|
|
|
SID "1349"
|
|
|
Position [15, 75, 35, 95]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Baised Momentum"
|
|
|
SID "1350"
|
|
|
Position [630, 125, 660, 145]
|
|
|
ZOrder -2
|
|
|
BlockRotation 270
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "HmA"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "1351"
|
|
|
Position [750, 70, 780, 100]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1352"
|
|
|
Ports [1, 1]
|
|
|
Position [465, 70, 495, 100]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "1353"
|
|
|
Position [70, 74, 95, 96]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "3500/15"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "1354"
|
|
|
Position [155, 74, 180, 96]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "pi/30"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "1355"
|
|
|
Position [200, 74, 225, 96]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel/Tr"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional3"
|
|
|
SID "1356"
|
|
|
Position [420, 74, 445, 96]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "1/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional4"
|
|
|
SID "1357"
|
|
|
Position [285, 150, 315, 170]
|
|
|
ZOrder -9
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "30/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional5"
|
|
|
SID "1358"
|
|
|
Position [750, 150, 780, 170]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "30/pi/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional6"
|
|
|
SID "1359"
|
|
|
Position [575, 75, 605, 95]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation3"
|
|
|
SID "1360"
|
|
|
Ports [1, 1]
|
|
|
Position [250, 72, 275, 98]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Usaturate"
|
|
|
LowerLimit "-Usaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation4"
|
|
|
SID "1361"
|
|
|
Ports [1, 1]
|
|
|
Position [365, 72, 390, 98]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation5"
|
|
|
SID "1362"
|
|
|
Ports [1, 1]
|
|
|
Position [680, 72, 705, 98]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Hsaturate"
|
|
|
LowerLimit "-Hsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation6"
|
|
|
SID "1363"
|
|
|
Ports [1, 1]
|
|
|
Position [520, 72, 545, 98]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Wsaturate"
|
|
|
LowerLimit "-Wsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation7"
|
|
|
SID "1364"
|
|
|
Ports [1, 1]
|
|
|
Position [805, 72, 830, 98]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1365"
|
|
|
Ports [2, 1]
|
|
|
Position [110, 70, 130, 100]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|+-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "1366"
|
|
|
Ports [2, 1]
|
|
|
Position [635, 70, 655, 100]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace"
|
|
|
SID "1367"
|
|
|
Ports [1]
|
|
|
Position [833, 115, 867, 135]
|
|
|
ZOrder -19
|
|
|
BlockRotation 270
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
VariableName "Tca"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace1"
|
|
|
SID "1368"
|
|
|
Ports [1]
|
|
|
Position [105, 30, 135, 50]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
VariableName "U_a"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace3"
|
|
|
SID "1369"
|
|
|
Ports [1]
|
|
|
Position [805, 150, 835, 170]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
VariableName "w_A"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType TransferFcn
|
|
|
Name "Transfer Fcn1"
|
|
|
SID "1370"
|
|
|
Position [300, 70, 335, 100]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Numerator "[Kr]"
|
|
|
Denominator "[Tr 1]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "TA"
|
|
|
SID "1371"
|
|
|
Position [880, 76, 905, 94]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HA"
|
|
|
SID "1372"
|
|
|
Position [770, 17, 795, 33]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HAvary"
|
|
|
SID "1373"
|
|
|
Position [635, 20, 655, 40]
|
|
|
ZOrder -25
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Saturation3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Transfer Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Transfer Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Saturation4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Proportional3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Proportional4"
|
|
|
SrcPort 1
|
|
|
Points [-160, 0]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Proportional5"
|
|
|
SrcPort 1
|
|
|
DstBlock "To Workspace3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Proportional6"
|
|
|
SrcPort 1
|
|
|
Points [0, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, -55]
|
|
|
DstBlock "HAvary"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Baised Momentum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Saturation5"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, -60]
|
|
|
DstBlock "HA"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Saturation7"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "TA"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
DstBlock "To Workspace"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Saturation6"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Proportional6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Uc"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 29
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 30
|
|
|
Points [0, -45]
|
|
|
DstBlock "To Workspace1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1374"
|
|
|
Name "U_A"
|
|
|
Position [46, 105, 69, 132]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "main_wheel3"
|
|
|
SID "1375"
|
|
|
Ports [1, 3]
|
|
|
Position [105, 399, 185, 471]
|
|
|
ZOrder -48
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial Black"
|
|
|
FontSize 15
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 44
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Wheel_E')"
|
|
|
}
|
|
|
System {
|
|
|
Name "main_wheel3"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Uc"
|
|
|
SID "1376"
|
|
|
Position [15, 70, 35, 90]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Baised Momentum"
|
|
|
SID "1377"
|
|
|
Position [615, 120, 645, 140]
|
|
|
ZOrder -2
|
|
|
BlockRotation 270
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "HmE"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "1378"
|
|
|
Position [735, 65, 765, 95]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1379"
|
|
|
Ports [1, 1]
|
|
|
Position [450, 65, 480, 95]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "1380"
|
|
|
Position [55, 69, 80, 91]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "3500/15"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "1381"
|
|
|
Position [140, 69, 165, 91]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "pi/30"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "1382"
|
|
|
Position [185, 69, 210, 91]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel/Tr"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional3"
|
|
|
SID "1383"
|
|
|
Position [405, 69, 430, 91]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "1/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional4"
|
|
|
SID "1384"
|
|
|
Position [270, 145, 300, 165]
|
|
|
ZOrder -9
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "30/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional5"
|
|
|
SID "1385"
|
|
|
Position [735, 145, 765, 165]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "30/pi/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional6"
|
|
|
SID "1386"
|
|
|
Position [560, 70, 590, 90]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation3"
|
|
|
SID "1387"
|
|
|
Ports [1, 1]
|
|
|
Position [235, 67, 260, 93]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Usaturate"
|
|
|
LowerLimit "-Usaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation4"
|
|
|
SID "1388"
|
|
|
Ports [1, 1]
|
|
|
Position [350, 67, 375, 93]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation5"
|
|
|
SID "1389"
|
|
|
Ports [1, 1]
|
|
|
Position [665, 67, 690, 93]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Hsaturate"
|
|
|
LowerLimit "-Hsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation6"
|
|
|
SID "1390"
|
|
|
Ports [1, 1]
|
|
|
Position [505, 67, 530, 93]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Wsaturate"
|
|
|
LowerLimit "-Wsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation7"
|
|
|
SID "1391"
|
|
|
Ports [1, 1]
|
|
|
Position [795, 67, 820, 93]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1392"
|
|
|
Ports [2, 1]
|
|
|
Position [95, 65, 115, 95]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|+-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "1393"
|
|
|
Ports [2, 1]
|
|
|
Position [620, 65, 640, 95]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace"
|
|
|
SID "1394"
|
|
|
Ports [1]
|
|
|
Position [818, 115, 852, 135]
|
|
|
ZOrder -19
|
|
|
BlockRotation 270
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
VariableName "Tce"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace2"
|
|
|
SID "1395"
|
|
|
Ports [1]
|
|
|
Position [790, 145, 820, 165]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
VariableName "w_E"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType TransferFcn
|
|
|
Name "Transfer Fcn1"
|
|
|
SID "1396"
|
|
|
Position [285, 65, 320, 95]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Numerator "[Kr]"
|
|
|
Denominator "[Tr 1]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "TE"
|
|
|
SID "1397"
|
|
|
Position [865, 71, 890, 89]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HE"
|
|
|
SID "1398"
|
|
|
Position [745, 12, 770, 28]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HEvary"
|
|
|
SID "1399"
|
|
|
Position [625, 15, 645, 35]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Saturation3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Transfer Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Transfer Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Saturation4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Proportional3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Proportional4"
|
|
|
SrcPort 1
|
|
|
Points [-160, 0]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Proportional5"
|
|
|
SrcPort 1
|
|
|
DstBlock "To Workspace2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Proportional6"
|
|
|
SrcPort 1
|
|
|
Points [0, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, -55]
|
|
|
DstBlock "HEvary"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Baised Momentum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Saturation5"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, -60]
|
|
|
DstBlock "HE"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Saturation7"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "TE"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
DstBlock "To Workspace"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Saturation6"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Proportional6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Uc"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1400"
|
|
|
Name "U_E"
|
|
|
Position [22, 95, 44, 122]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "main_wheel4"
|
|
|
SID "1401"
|
|
|
Ports [1, 3]
|
|
|
Position [105, 219, 185, 291]
|
|
|
ZOrder -49
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial Black"
|
|
|
FontSize 15
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 45
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Wheel_C')"
|
|
|
}
|
|
|
System {
|
|
|
Name "main_wheel4"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Uc"
|
|
|
SID "1402"
|
|
|
Position [15, 70, 35, 90]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Baised Momentum"
|
|
|
SID "1403"
|
|
|
Position [615, 120, 645, 140]
|
|
|
ZOrder -2
|
|
|
BlockRotation 270
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "HmC"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "1404"
|
|
|
Position [735, 65, 765, 95]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1405"
|
|
|
Ports [1, 1]
|
|
|
Position [450, 65, 480, 95]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "1406"
|
|
|
Position [55, 69, 80, 91]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "3500/15"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "1407"
|
|
|
Position [140, 69, 165, 91]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "pi/30"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "1408"
|
|
|
Position [185, 69, 210, 91]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel/Tr"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional3"
|
|
|
SID "1409"
|
|
|
Position [405, 69, 430, 91]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "1/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional4"
|
|
|
SID "1410"
|
|
|
Position [270, 145, 300, 165]
|
|
|
ZOrder -9
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "30/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional5"
|
|
|
SID "1411"
|
|
|
Position [735, 145, 765, 165]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "30/pi/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional6"
|
|
|
SID "1412"
|
|
|
Position [560, 70, 590, 90]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation3"
|
|
|
SID "1413"
|
|
|
Ports [1, 1]
|
|
|
Position [235, 67, 260, 93]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Usaturate"
|
|
|
LowerLimit "-Usaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation4"
|
|
|
SID "1414"
|
|
|
Ports [1, 1]
|
|
|
Position [350, 67, 375, 93]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation5"
|
|
|
SID "1415"
|
|
|
Ports [1, 1]
|
|
|
Position [665, 67, 690, 93]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Hsaturate"
|
|
|
LowerLimit "-Hsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation6"
|
|
|
SID "1416"
|
|
|
Ports [1, 1]
|
|
|
Position [505, 67, 530, 93]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Wsaturate"
|
|
|
LowerLimit "-Wsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation7"
|
|
|
SID "1417"
|
|
|
Ports [1, 1]
|
|
|
Position [795, 67, 820, 93]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1418"
|
|
|
Ports [2, 1]
|
|
|
Position [95, 65, 115, 95]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|+-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "1419"
|
|
|
Ports [2, 1]
|
|
|
Position [620, 65, 640, 95]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace"
|
|
|
SID "1420"
|
|
|
Ports [1]
|
|
|
Position [818, 115, 852, 135]
|
|
|
ZOrder -19
|
|
|
BlockRotation 270
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
VariableName "Tcc"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace2"
|
|
|
SID "1421"
|
|
|
Ports [1]
|
|
|
Position [790, 145, 820, 165]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
VariableName "w_C"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType TransferFcn
|
|
|
Name "Transfer Fcn1"
|
|
|
SID "1422"
|
|
|
Position [285, 65, 320, 95]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Numerator "[Kr]"
|
|
|
Denominator "[Tr 1]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "TC"
|
|
|
SID "1423"
|
|
|
Position [865, 71, 890, 89]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HC"
|
|
|
SID "1424"
|
|
|
Position [745, 12, 770, 28]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HCvary"
|
|
|
SID "1425"
|
|
|
Position [625, 15, 645, 35]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Saturation3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Transfer Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Transfer Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Saturation4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Proportional3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Proportional4"
|
|
|
SrcPort 1
|
|
|
Points [-160, 0]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Proportional5"
|
|
|
SrcPort 1
|
|
|
DstBlock "To Workspace2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Proportional6"
|
|
|
SrcPort 1
|
|
|
Points [0, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, -55]
|
|
|
DstBlock "HCvary"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Baised Momentum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Saturation5"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, -60]
|
|
|
DstBlock "HC"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Saturation7"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "TC"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
DstBlock "To Workspace"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Saturation6"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Proportional6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Uc"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1426"
|
|
|
Name "U_C"
|
|
|
Position [21, 95, 44, 122]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "main_wheel5"
|
|
|
SID "1427"
|
|
|
Ports [1, 3]
|
|
|
Position [105, 309, 185, 381]
|
|
|
ZOrder -50
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial Black"
|
|
|
FontSize 15
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 46
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Wheel_D')"
|
|
|
}
|
|
|
System {
|
|
|
Name "main_wheel5"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Uc"
|
|
|
SID "1428"
|
|
|
Position [15, 70, 35, 90]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Baised Momentum"
|
|
|
SID "1429"
|
|
|
Position [620, 120, 650, 140]
|
|
|
ZOrder -2
|
|
|
BlockRotation 270
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "HmD"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "1430"
|
|
|
Position [740, 65, 770, 95]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1431"
|
|
|
Ports [1, 1]
|
|
|
Position [455, 65, 485, 95]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional"
|
|
|
SID "1432"
|
|
|
Position [60, 69, 85, 91]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "3500/15"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional1"
|
|
|
SID "1433"
|
|
|
Position [145, 69, 170, 91]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "pi/30"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional2"
|
|
|
SID "1434"
|
|
|
Position [190, 69, 215, 91]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel/Tr"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional3"
|
|
|
SID "1435"
|
|
|
Position [410, 69, 435, 91]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "1/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional4"
|
|
|
SID "1436"
|
|
|
Position [275, 145, 305, 165]
|
|
|
ZOrder -9
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "30/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional5"
|
|
|
SID "1437"
|
|
|
Position [740, 145, 770, 165]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "30/pi/Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Proportional6"
|
|
|
SID "1438"
|
|
|
Position [565, 70, 595, 90]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Jwheel"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation3"
|
|
|
SID "1439"
|
|
|
Ports [1, 1]
|
|
|
Position [240, 67, 265, 93]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Usaturate"
|
|
|
LowerLimit "-Usaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation4"
|
|
|
SID "1440"
|
|
|
Ports [1, 1]
|
|
|
Position [355, 67, 380, 93]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation5"
|
|
|
SID "1441"
|
|
|
Ports [1, 1]
|
|
|
Position [670, 67, 695, 93]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Hsaturate"
|
|
|
LowerLimit "-Hsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation6"
|
|
|
SID "1442"
|
|
|
Ports [1, 1]
|
|
|
Position [510, 67, 535, 93]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Wsaturate"
|
|
|
LowerLimit "-Wsaturate"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "Saturation7"
|
|
|
SID "1443"
|
|
|
Ports [1, 1]
|
|
|
Position [800, 67, 825, 93]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
UpperLimit "Tmotormax"
|
|
|
LowerLimit "-Tmotormax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1444"
|
|
|
Ports [2, 1]
|
|
|
Position [100, 65, 120, 95]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|+-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "1445"
|
|
|
Ports [2, 1]
|
|
|
Position [625, 65, 645, 95]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|++"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace"
|
|
|
SID "1446"
|
|
|
Ports [1]
|
|
|
Position [823, 110, 857, 130]
|
|
|
ZOrder -19
|
|
|
BlockRotation 270
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
VariableName "Tcd"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType ToWorkspace
|
|
|
Name "To Workspace2"
|
|
|
SID "1447"
|
|
|
Ports [1]
|
|
|
Position [795, 145, 825, 165]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
VariableName "w_D"
|
|
|
MaxDataPoints "inf"
|
|
|
Decimation "100"
|
|
|
SampleTime "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType TransferFcn
|
|
|
Name "Transfer Fcn1"
|
|
|
SID "1448"
|
|
|
Position [290, 65, 325, 95]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Numerator "[Kr]"
|
|
|
Denominator "[Tr 1]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "TD"
|
|
|
SID "1449"
|
|
|
Position [865, 71, 890, 89]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HD"
|
|
|
SID "1450"
|
|
|
Position [755, 12, 780, 28]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "HDvary"
|
|
|
SID "1451"
|
|
|
Position [620, 15, 640, 35]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Proportional"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Proportional1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Proportional2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Saturation3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Transfer Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Transfer Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Saturation4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Proportional3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Proportional4"
|
|
|
SrcPort 1
|
|
|
Points [-160, 0]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Proportional5"
|
|
|
SrcPort 1
|
|
|
DstBlock "To Workspace2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Proportional6"
|
|
|
SrcPort 1
|
|
|
Points [0, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, -55]
|
|
|
DstBlock "HDvary"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Baised Momentum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Saturation5"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, -60]
|
|
|
DstBlock "HD"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
DstBlock "Saturation7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Saturation7"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "TD"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
DstBlock "To Workspace"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Saturation6"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 75]
|
|
|
DstBlock "Proportional4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Proportional6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Uc"
|
|
|
SrcPort 1
|
|
|
DstBlock "Proportional"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1452"
|
|
|
Name "U_D"
|
|
|
Position [26, 100, 49, 127]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "h"
|
|
|
SID "1479"
|
|
|
Position [700, 87, 725, 113]
|
|
|
ZOrder -52
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 14
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "TC"
|
|
|
SID "1480"
|
|
|
Position [700, 257, 725, 283]
|
|
|
ZOrder -53
|
|
|
ForegroundColor "blue"
|
|
|
FontName "Arial"
|
|
|
FontSize 14
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "main_wheel2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "main_wheel2"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "main_wheel2"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "main_wheel1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto9"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "main_wheel1"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto10"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "main_wheel1"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto15"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "main_wheel4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto16"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "main_wheel4"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto13"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "main_wheel4"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto14"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "main_wheel5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto12"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "main_wheel5"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "main_wheel5"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto11"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Demux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Demux1"
|
|
|
SrcPort 2
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Demux1"
|
|
|
SrcPort 3
|
|
|
DstBlock "Gain3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Demux1"
|
|
|
SrcPort 4
|
|
|
DstBlock "Gain4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "From16"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "From13"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "From5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 23
|
|
|
SrcBlock "From15"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "Matrix\nGain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "TC"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "From7"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "From3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux5"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "From14"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux5"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "From6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux5"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "Matrix\nGain5"
|
|
|
SrcPort 1
|
|
|
DstBlock "h"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "From8"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "From9"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 34
|
|
|
SrcBlock "From10"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 36
|
|
|
SrcBlock "main_wheel3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto19"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 37
|
|
|
SrcBlock "main_wheel3"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto17"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 38
|
|
|
SrcBlock "main_wheel3"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto18"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 42
|
|
|
SrcBlock "Demux1"
|
|
|
SrcPort 5
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 48
|
|
|
SrcBlock "From17"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 5
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 50
|
|
|
SrcBlock "In1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nGain12"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 67
|
|
|
SrcBlock "Matrix\nGain12"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 71
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nGain5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 72
|
|
|
SrcBlock "Mux5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nGain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 73
|
|
|
SrcBlock "Mux2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nGain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 68
|
|
|
SrcBlock "From4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 5
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 69
|
|
|
SrcBlock "From11"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 70
|
|
|
SrcBlock "From1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux5"
|
|
|
DstPort 5
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 77
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "main_wheel1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 78
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "main_wheel3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 79
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "main_wheel2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 80
|
|
|
SrcBlock "Gain3"
|
|
|
SrcPort 1
|
|
|
DstBlock "main_wheel4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 81
|
|
|
SrcBlock "Gain4"
|
|
|
SrcPort 1
|
|
|
DstBlock "main_wheel5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 82
|
|
|
SrcBlock "Matrix\nGain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Terminator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Tc"
|
|
|
SID "1482"
|
|
|
Position [925, 138, 955, 152]
|
|
|
ZOrder -25
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "h"
|
|
|
SID "1483"
|
|
|
Position [935, 18, 965, 32]
|
|
|
ZOrder -26
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "wheel"
|
|
|
SrcPort 1
|
|
|
DstBlock "Zero-Order\nHold1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 119
|
|
|
SrcBlock "wheel"
|
|
|
SrcPort 2
|
|
|
Points [153, 0; 0, 75]
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 74
|
|
|
SrcBlock "Qe"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 75
|
|
|
SrcBlock "We"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 111
|
|
|
SrcBlock "Subsystem2"
|
|
|
SrcPort 1
|
|
|
Points [35, 0; 0, 5]
|
|
|
DstBlock "wheel"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 109
|
|
|
SrcBlock "Zero-Order\nHold"
|
|
|
SrcPort 1
|
|
|
Points [19, 0]
|
|
|
Branch {
|
|
|
ZOrder 113
|
|
|
Points [0, -55]
|
|
|
DstBlock "T_c"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 112
|
|
|
DstBlock "Tc"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 110
|
|
|
SrcBlock "Zero-Order\nHold1"
|
|
|
SrcPort 1
|
|
|
DstBlock "h"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 120
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "Zero-Order\nHold"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Determination "
|
|
|
SID "1486"
|
|
|
Ports [4, 2]
|
|
|
Position [300, 246, 410, 414]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 47
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><>̬ȷ<CCAC><C8B7>\\n\\n<><6E>\\n\\n<><6E>̬<EFBFBD><CCAC><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Determination "
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qd"
|
|
|
SID "1487"
|
|
|
Position [170, 53, 200, 67]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "wd"
|
|
|
SID "2645"
|
|
|
Position [170, 98, 200, 112]
|
|
|
ZOrder 1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Wbe"
|
|
|
SID "1488"
|
|
|
Position [60, 213, 90, 227]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qbe"
|
|
|
SID "1489"
|
|
|
Position [60, 163, 90, 177]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "B2"
|
|
|
SID "1490"
|
|
|
Ports [4, 2]
|
|
|
Position [415, 30, 550, 255]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 48
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Attitude\\n\\nResolver')"
|
|
|
}
|
|
|
System {
|
|
|
Name "B2"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qd"
|
|
|
SID "1491"
|
|
|
Position [110, 98, 140, 112]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qbo"
|
|
|
SID "1492"
|
|
|
Position [110, 133, 140, 147]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "wd"
|
|
|
SID "2646"
|
|
|
Position [450, 293, 480, 307]
|
|
|
ZOrder 4
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Wbi"
|
|
|
SID "1493"
|
|
|
Position [680, 333, 710, 347]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1494"
|
|
|
Ports [2, 1]
|
|
|
Position [595, 167, 645, 343]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternions to \nDirection Cosine Matrix"
|
|
|
SID "2657"
|
|
|
Ports [1, 1]
|
|
|
Position [415, 183, 480, 237]
|
|
|
ZOrder 17
|
|
|
LibraryVersion "1.509"
|
|
|
SourceBlock "sharedtransform/Quaternions to \nDirection Cosine Matrix"
|
|
|
SourceType "Quaternion2DCM"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
aMode "aMode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2421"
|
|
|
Ports [1]
|
|
|
Position [910, 209, 940, 241]
|
|
|
ZOrder 3
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData5'),extmgr.Configuration('Visuals','Time Dom"
|
|
|
"ain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00028','MaxYLimReal','0.00125','YLabelReal','','MinYLi"
|
|
|
"mMag','0.00000','MaxYLimMag','0.00125','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,"
|
|
|
"'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0"
|
|
|
".0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098"
|
|
|
" 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980"
|
|
|
"39215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},"
|
|
|
"'NumLines',3,'LineNames',{{'Sum4:1','Sum4:2','Sum4:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefa"
|
|
|
"ults',struct('MinYLimReal','-0.00028','MaxYLimReal','0.00125','YLabelReal','','MinYLimMag','0.00000','MaxYLimMa"
|
|
|
"g','0.00125','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesT"
|
|
|
"ickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.6235294117"
|
|
|
"64706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392"
|
|
|
"156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863"
|
|
|
"])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Vers"
|
|
|
"ion','2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem"
|
|
|
SID "1546"
|
|
|
Ports [2, 1]
|
|
|
Position [200, 87, 300, 158]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 49
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Error\\nQuaternion')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q_ce"
|
|
|
SID "1547"
|
|
|
Position [30, 33, 60, 47]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qbe"
|
|
|
SID "1548"
|
|
|
Position [20, 128, 50, 142]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nConjugate1"
|
|
|
SID "2662"
|
|
|
Ports [1, 1]
|
|
|
Position [130, 18, 185, 62]
|
|
|
ZOrder 10
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nConjugate"
|
|
|
SourceType "Quaternion Conjugate"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nMultiplication"
|
|
|
SID "2656"
|
|
|
Ports [2, 1]
|
|
|
Position [310, 78, 365, 122]
|
|
|
ZOrder 7
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nMultiplication"
|
|
|
SourceType "Quaternion Multiplication"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qb(C)o"
|
|
|
SID "1557"
|
|
|
Position [450, 93, 480, 107]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "Qbe"
|
|
|
SrcPort 1
|
|
|
Points [219, 0; 0, -25]
|
|
|
DstBlock "Quaternion\nMultiplication"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Quaternion\nMultiplication"
|
|
|
SrcPort 1
|
|
|
DstBlock "Qb(C)o"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Quaternion\nConjugate1"
|
|
|
SrcPort 1
|
|
|
Points [43, 0; 0, 50]
|
|
|
DstBlock "Quaternion\nMultiplication"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "q_ce"
|
|
|
SrcPort 1
|
|
|
DstBlock "Quaternion\nConjugate1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum4"
|
|
|
SID "1558"
|
|
|
Ports [2, 1]
|
|
|
Position [760, 212, 790, 383]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "-+"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "q_bo"
|
|
|
SID "1560"
|
|
|
Position [415, 118, 445, 132]
|
|
|
ZOrder -11
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Wbc"
|
|
|
SID "1561"
|
|
|
Position [890, 293, 920, 307]
|
|
|
ZOrder -12
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Subsystem"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 81
|
|
|
Points [0, 85]
|
|
|
DstBlock "Quaternions to \nDirection Cosine Matrix"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 80
|
|
|
DstBlock "q_bo"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 68
|
|
|
SrcBlock "Quaternions to \nDirection Cosine Matrix"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Sum4"
|
|
|
SrcPort 1
|
|
|
Points [47, 0]
|
|
|
Branch {
|
|
|
ZOrder 59
|
|
|
Points [0, -75]
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 58
|
|
|
DstBlock "Wbc"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 64
|
|
|
SrcBlock "wd"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 56
|
|
|
SrcBlock "Qbo"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 57
|
|
|
SrcBlock "Qd"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 113
|
|
|
SrcBlock "Wbi"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem"
|
|
|
SID "1603"
|
|
|
Ports [2, 2]
|
|
|
Position [150, 148, 275, 252]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 50
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Sensor\\n\\nand\\n\\nKalman Filter')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qbe"
|
|
|
SID "1604"
|
|
|
Position [60, 78, 90, 92]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Wbe"
|
|
|
SID "1605"
|
|
|
Position [60, 128, 90, 142]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Gyroscope"
|
|
|
SID "1606"
|
|
|
Ports [1, 1]
|
|
|
Position [175, 118, 310, 152]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 51
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Gyroscope')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Gyroscope"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "W"
|
|
|
SID "1607"
|
|
|
Position [370, 170, 390, 190]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "1608"
|
|
|
Position [85, 140, 115, 170]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "sigmau*sample_time^0.5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "1609"
|
|
|
Position [430, 115, 460, 145]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "0.5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "1610"
|
|
|
Position [435, 215, 465, 245]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "(sigmav^2/sample_time + 1/12*sigmau^2*sample_time)^0.5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType RandomNumber
|
|
|
Name "Gyro Noise"
|
|
|
SID "1611"
|
|
|
Position [365, 215, 395, 245]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Mean "zeros(3,1)"
|
|
|
Variance "ones(3,1)"
|
|
|
Seed "gyro_white_noise_seed"
|
|
|
SampleTime "sample_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType RandomNumber
|
|
|
Name "Gyro_bias Noise"
|
|
|
SID "1612"
|
|
|
Position [35, 140, 65, 170]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Mean "zeros(3,1)"
|
|
|
Variance "ones(3,1)"
|
|
|
Seed "gyro_white_noise_seed"
|
|
|
SampleTime "sample_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1613"
|
|
|
Ports [2, 1]
|
|
|
Position [150, 116, 175, 169]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "1614"
|
|
|
Ports [2, 1]
|
|
|
Position [370, 100, 395, 160]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum3"
|
|
|
SID "1615"
|
|
|
Ports [3, 1]
|
|
|
Position [515, 104, 545, 256]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType UnitDelay
|
|
|
Name "Unit Delay"
|
|
|
SID "1616"
|
|
|
Position [190, 65, 225, 105]
|
|
|
ZOrder -10
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InitialCondition "gyro_bias_initial"
|
|
|
SampleTime "sample_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Saturate
|
|
|
Name "measure range"
|
|
|
SID "1617"
|
|
|
Ports [1, 1]
|
|
|
Position [425, 164, 475, 196]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InputPortMap "u0"
|
|
|
FontName "Arial"
|
|
|
FontWeight "bold"
|
|
|
FontAngle "italic"
|
|
|
UpperLimit "Wgmax"
|
|
|
LowerLimit "-Wgmax"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Wbi"
|
|
|
SID "1618"
|
|
|
Position [595, 170, 615, 190]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Gyro_bias Noise"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [-5, 0; 105, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, -60]
|
|
|
DstBlock "Unit Delay"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Unit Delay"
|
|
|
SrcPort 1
|
|
|
Points [-75, 0]
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, 45]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, -40; 200, 0; 0, 70]
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Sum3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Wbi"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Gyro Noise"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum3"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "W"
|
|
|
SrcPort 1
|
|
|
DstBlock "measure range"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "measure range"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2631"
|
|
|
Ports [1]
|
|
|
Position [160, 9, 190, 41]
|
|
|
ZOrder 2
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData6'),extmgr.Configuration('Visuals','Time Dom"
|
|
|
"ain',true,'SerializedDisplays',{struct('MinYLimReal','-0.12734','MaxYLimReal','1.12526','YLabelReal','','MinYLi"
|
|
|
"mMag','0.00000','MaxYLimMag','1.12526','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,"
|
|
|
"'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0"
|
|
|
".0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098"
|
|
|
" 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980"
|
|
|
"39215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},"
|
|
|
"'NumLines',4,'LineNames',{{'Qbe:1','Qbe:2','Qbe:3','Qbe:4'}},'ShowContent',true,'Placement',1)},'DisplayPropert"
|
|
|
"yDefaults',struct('MinYLimReal','-0.12734','MaxYLimReal','1.12526','YLabelReal','','MinYLimMag','0.00000','MaxY"
|
|
|
"LimMag','1.12526','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'"
|
|
|
"AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.62352"
|
|
|
"9411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;"
|
|
|
"0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.6509803921"
|
|
|
"56863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,"
|
|
|
"'Version','2018b')),'Version','2018b')"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope1"
|
|
|
SID "2632"
|
|
|
Ports [1]
|
|
|
Position [160, 204, 190, 236]
|
|
|
ZOrder 3
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData7'),extmgr.Configuration('Visuals','Time Dom"
|
|
|
"ain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00188','MaxYLimReal','0.00143','YLabelReal','','MinYLi"
|
|
|
"mMag','0.00000','MaxYLimMag','0.00188','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,"
|
|
|
"'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0"
|
|
|
".0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098"
|
|
|
" 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980"
|
|
|
"39215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},"
|
|
|
"'NumLines',3,'LineNames',{{'Wbe:1','Wbe:2','Wbe:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefault"
|
|
|
"s',struct('MinYLimReal','-0.00188','MaxYLimReal','0.00143','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag',"
|
|
|
"'0.00188','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTick"
|
|
|
"Color',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.6235294117647"
|
|
|
"06 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156"
|
|
|
"862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863]))"
|
|
|
",extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version"
|
|
|
"','2018b')),'Version','2018b','Position',[85 134 560 420])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope2"
|
|
|
SID "2633"
|
|
|
Ports [1]
|
|
|
Position [665, 9, 695, 41]
|
|
|
ZOrder 4
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData8'),extmgr.Configuration('Visuals','Time Dom"
|
|
|
"ain',true),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',tru"
|
|
|
"e)),'Version','2018b')"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope3"
|
|
|
SID "2634"
|
|
|
Ports [1]
|
|
|
Position [650, 204, 680, 236]
|
|
|
ZOrder 5
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData9'),extmgr.Configuration('Visuals','Time Dom"
|
|
|
"ain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00119','MaxYLimReal','0.00135','YLabelReal','','MinYLi"
|
|
|
"mMag','0.00000','MaxYLimMag','0.00135','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,"
|
|
|
"'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0"
|
|
|
".0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098"
|
|
|
" 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980"
|
|
|
"39215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},"
|
|
|
"'NumLines',3,'LineNames',{{'Subsystem1/2:1','Subsystem1/2:2','Subsystem1/2:3'}},'ShowContent',true,'Placement',"
|
|
|
"1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.00119','MaxYLimReal','0.00135','YLabelReal','','MinYLimM"
|
|
|
"ag','0.00000','MaxYLimMag','0.00135','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'A"
|
|
|
"xesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.07450"
|
|
|
"98039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0"
|
|
|
".274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039"
|
|
|
"215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','"
|
|
|
"Measurements',true,'Version','2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Star Sensor"
|
|
|
SID "1619"
|
|
|
Ports [1, 1]
|
|
|
Position [175, 66, 310, 104]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 52
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('startracker');"
|
|
|
}
|
|
|
System {
|
|
|
Name "Star Sensor"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qbi1"
|
|
|
SID "1620"
|
|
|
Position [50, 58, 80, 72]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType RandomNumber
|
|
|
Name "Noise dispersion"
|
|
|
SID "1621"
|
|
|
Position [50, 105, 95, 135]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontWeight "bold"
|
|
|
FontAngle "italic"
|
|
|
Mean "[0 0 0 0]"
|
|
|
Variance "[1 1 1 1]"
|
|
|
Seed "star_white_noise_seed"
|
|
|
SampleTime "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Normalize"
|
|
|
SID "1622"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 65, 285, 125]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
AncestorBlock "aerolibtransform/Quaternions to \nDirection Cosine Matrix/Normalize"
|
|
|
LibraryVersion "*"
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
FontWeight "bold"
|
|
|
FontAngle "italic"
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 53
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Normalize')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Normalize"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
SIDHighWatermark "5"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In1"
|
|
|
SID "1622:1"
|
|
|
Position [25, 38, 55, 52]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType DotProduct
|
|
|
Name "Dot Product"
|
|
|
SID "1622:2"
|
|
|
Position [95, 61, 125, 94]
|
|
|
ZOrder -2
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "1622:3"
|
|
|
Ports [1, 1]
|
|
|
Position [140, 65, 170, 95]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "sqrt"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Normalize\nQuaternion\nMagnitude"
|
|
|
SID "1622:4"
|
|
|
Ports [2, 1]
|
|
|
Position [195, 29, 240, 96]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "*/"
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out"
|
|
|
SID "1622:5"
|
|
|
Position [265, 58, 295, 72]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Normalize\nQuaternion\nMagnitude"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
DstBlock "Normalize\nQuaternion\nMagnitude"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Dot Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "In1"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 25]
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Dot Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 15]
|
|
|
DstBlock "Dot Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
DstBlock "Normalize\nQuaternion\nMagnitude"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum4"
|
|
|
SID "1623"
|
|
|
Ports [2, 1]
|
|
|
Position [165, 39, 190, 146]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "noise"
|
|
|
SID "1624"
|
|
|
Position [115, 110, 140, 130]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Gain "15/3600*pi/180"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qbi"
|
|
|
SID "1625"
|
|
|
Position [305, 86, 335, 104]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Noise dispersion"
|
|
|
SrcPort 1
|
|
|
DstBlock "noise"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "noise"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Qbi1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Sum4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Normalize"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Normalize"
|
|
|
SrcPort 1
|
|
|
DstBlock "Qbi"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "2424"
|
|
|
Ports [2, 2]
|
|
|
Position [405, 60, 545, 160]
|
|
|
ZOrder 1
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 54
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Attitude\\nFilter')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q_meas"
|
|
|
SID "2425"
|
|
|
Position [140, 123, 170, 137]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w_meas"
|
|
|
SID "2426"
|
|
|
Position [20, 173, 50, 187]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "KF"
|
|
|
SID "2427"
|
|
|
Ports [2, 1]
|
|
|
Position [300, 88, 350, 212]
|
|
|
ZOrder -3
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
FontName "Arial"
|
|
|
FontSize 11
|
|
|
FontWeight "bold"
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 55
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Kalman \\nFilter')"
|
|
|
}
|
|
|
System {
|
|
|
Name "KF"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Q_e"
|
|
|
SID "2428"
|
|
|
Position [60, 148, 90, 162]
|
|
|
ZOrder -1
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "2429"
|
|
|
Position [60, 88, 90, 102]
|
|
|
ZOrder -2
|
|
|
BackgroundColor "darkGreen"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "A_K"
|
|
|
SID "2430"
|
|
|
Ports [1, 2]
|
|
|
Position [105, 63, 140, 127]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "A_K"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A_line"
|
|
|
SID "2431"
|
|
|
Position [210, 203, 240, 217]
|
|
|
ZOrder -1
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name " LU Inverse"
|
|
|
SID "2432"
|
|
|
Ports [1, 1]
|
|
|
Position [540, 373, 595, 407]
|
|
|
ZOrder -2
|
|
|
LibraryVersion "1.35"
|
|
|
SourceBlock "dspinverses/ LU Inverse"
|
|
|
SourceType "LU Inverse"
|
|
|
SourceProductName "DSP System Toolbox"
|
|
|
SourceProductBaseCode "DS"
|
|
|
ContentPreviewEnabled off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "H"
|
|
|
SID "2433"
|
|
|
Position [20, 377, 55, 393]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Value "H"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "H1"
|
|
|
SID "2434"
|
|
|
Position [25, 67, 60, 83]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Value "H"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "H2"
|
|
|
SID "2435"
|
|
|
Position [480, 331, 500, 349]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Value "H"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction1"
|
|
|
SID "2436"
|
|
|
Ports [1, 1]
|
|
|
Position [265, 374, 285, 396]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction2"
|
|
|
SID "2437"
|
|
|
Ports [1, 1]
|
|
|
Position [490, 113, 510, 137]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction3"
|
|
|
SID "2438"
|
|
|
Ports [1, 1]
|
|
|
Position [490, 198, 510, 222]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction4"
|
|
|
SID "2439"
|
|
|
Ports [1, 1]
|
|
|
Position [540, 325, 585, 355]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction5"
|
|
|
SID "2440"
|
|
|
Ports [1, 1]
|
|
|
Position [245, 124, 265, 146]
|
|
|
ZOrder -10
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction6"
|
|
|
SID "2441"
|
|
|
Ports [1, 1]
|
|
|
Position [245, 79, 265, 101]
|
|
|
ZOrder -11
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2442"
|
|
|
Ports [2, 1]
|
|
|
Position [105, 68, 150, 97]
|
|
|
ZOrder -12
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2443"
|
|
|
Ports [3, 1]
|
|
|
Position [325, 349, 375, 391]
|
|
|
ZOrder -13
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2444"
|
|
|
Ports [3, 1]
|
|
|
Position [285, 100, 335, 140]
|
|
|
ZOrder -14
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2445"
|
|
|
Ports [3, 1]
|
|
|
Position [540, 64, 585, 136]
|
|
|
ZOrder -15
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product4"
|
|
|
SID "2446"
|
|
|
Ports [3, 1]
|
|
|
Position [615, 261, 655, 419]
|
|
|
ZOrder -16
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product5"
|
|
|
SID "2447"
|
|
|
Ports [3, 1]
|
|
|
Position [540, 149, 585, 221]
|
|
|
ZOrder -17
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product6"
|
|
|
SID "2448"
|
|
|
Ports [3, 1]
|
|
|
Position [285, 52, 335, 98]
|
|
|
ZOrder -18
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Q"
|
|
|
SID "2449"
|
|
|
Position [490, 177, 510, 193]
|
|
|
ZOrder -19
|
|
|
ShowName off
|
|
|
Value "Q"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "R"
|
|
|
SID "2450"
|
|
|
Position [325, 397, 375, 413]
|
|
|
ZOrder -20
|
|
|
ShowName off
|
|
|
Value "R"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "R1"
|
|
|
SID "2451"
|
|
|
Position [210, 66, 235, 84]
|
|
|
ZOrder -21
|
|
|
ShowName off
|
|
|
Value "R"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2452"
|
|
|
Ports [2, 1]
|
|
|
Position [165, 64, 185, 146]
|
|
|
ZOrder -22
|
|
|
ShowName off
|
|
|
Inputs "-+"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "2453"
|
|
|
Ports [2, 1]
|
|
|
Position [615, 56, 655, 229]
|
|
|
ZOrder -23
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum3"
|
|
|
SID "2454"
|
|
|
Ports [2, 1]
|
|
|
Position [480, 351, 500, 424]
|
|
|
ZOrder -24
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum4"
|
|
|
SID "2455"
|
|
|
Ports [2, 1]
|
|
|
Position [350, 51, 375, 144]
|
|
|
ZOrder -25
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType UnitDelay
|
|
|
Name "Unit Delay1"
|
|
|
SID "2456"
|
|
|
Position [435, 84, 455, 116]
|
|
|
ZOrder -26
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
InitialCondition "P0"
|
|
|
SampleTime "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "discrete"
|
|
|
SID "2457"
|
|
|
Ports [1, 3]
|
|
|
Position [285, 180, 335, 240]
|
|
|
ZOrder -27
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "discrete"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A_l"
|
|
|
SID "2458"
|
|
|
Position [25, 118, 55, 132]
|
|
|
ZOrder -1
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2459"
|
|
|
Position [90, 20, 125, 50]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "eye(6)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2460"
|
|
|
Position [90, 235, 125, 265]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Value "eye(6)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2461"
|
|
|
Position [355, 222, 385, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Value "G"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2462"
|
|
|
Position [260, 55, 290, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Gain "0.5*s_time^2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2463"
|
|
|
Position [260, 90, 290, 120]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Gain "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2464"
|
|
|
Position [260, 155, 290, 185]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
Gain "1/6*s_time^3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain3"
|
|
|
SID "2465"
|
|
|
Position [260, 195, 290, 225]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Gain "0.5*s_time^2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain4"
|
|
|
SID "2466"
|
|
|
Position [260, 235, 290, 265]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
Gain "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2467"
|
|
|
Ports [2, 1]
|
|
|
Position [175, 51, 220, 84]
|
|
|
ZOrder -10
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2468"
|
|
|
Ports [2, 1]
|
|
|
Position [175, 151, 220, 184]
|
|
|
ZOrder -11
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2469"
|
|
|
Ports [2, 1]
|
|
|
Position [415, 196, 460, 249]
|
|
|
ZOrder -12
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2470"
|
|
|
Ports [3, 1]
|
|
|
Position [325, 16, 345, 124]
|
|
|
ZOrder -13
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2471"
|
|
|
Ports [3, 1]
|
|
|
Position [325, 153, 345, 267]
|
|
|
ZOrder -14
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "A_dis"
|
|
|
SID "2472"
|
|
|
Position [490, 63, 520, 77]
|
|
|
ZOrder -15
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "G"
|
|
|
SID "2473"
|
|
|
Position [495, 218, 525, 232]
|
|
|
ZOrder -16
|
|
|
BackgroundColor "darkGreen"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "A_d"
|
|
|
SID "2474"
|
|
|
Position [490, 98, 520, 112]
|
|
|
ZOrder -17
|
|
|
BackgroundColor "darkGreen"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
DstBlock "G"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Gain4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Gain3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
Points [60, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
Points [0, 35]
|
|
|
DstBlock "A_d"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
DstBlock "A_dis"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "A_l"
|
|
|
SrcPort 1
|
|
|
Points [75, 0]
|
|
|
Branch {
|
|
|
ZOrder 17
|
|
|
Points [0, 35]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
Points [0, 15]
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
Points [0, 35]
|
|
|
DstBlock "Gain3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 22
|
|
|
Points [0, -20]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
Points [0, -30]
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 25
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2475"
|
|
|
Name "<22><>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>Taylor<6F><72><EFBFBD><EFBFBD>չ<EFBFBD><D5B9>"
|
|
|
Position [445, 23, 617, 43]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
VerticalAlignment "top"
|
|
|
ZOrder -1
|
|
|
FontSize 16
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "eye(6)"
|
|
|
SID "2476"
|
|
|
Position [105, 115, 150, 135]
|
|
|
ZOrder -28
|
|
|
ShowName off
|
|
|
Value "eye(6)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "A_dis"
|
|
|
SID "2477"
|
|
|
Position [415, 223, 445, 237]
|
|
|
ZOrder -29
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "K"
|
|
|
SID "2478"
|
|
|
Position [765, 333, 795, 347]
|
|
|
ZOrder -30
|
|
|
BackgroundColor "darkGreen"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "R1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product6"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Product6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Math\nFunction6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product6"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Sum4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Unit Delay1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "H2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "H1"
|
|
|
SrcPort 1
|
|
|
Points [25, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Math\nFunction5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Unit Delay1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Math\nFunction4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "discrete"
|
|
|
SrcPort 3
|
|
|
DstBlock "A_dis"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "A_line"
|
|
|
SrcPort 1
|
|
|
DstBlock "discrete"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Product5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Math\nFunction3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product5"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Q"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product5"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "discrete"
|
|
|
SrcPort 2
|
|
|
Points [125, 0]
|
|
|
Branch {
|
|
|
ZOrder 17
|
|
|
Points [0, -50]
|
|
|
DstBlock "Product5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
DstBlock "Math\nFunction3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
Points [60, 0; 0, 110; -525, 0]
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, 35]
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
DstBlock "Product4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 22
|
|
|
Points [0, 80]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
Points [0, -135]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Math\nFunction2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "discrete"
|
|
|
SrcPort 1
|
|
|
Points [105, 0; 0, -65; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
Points [0, -50]
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 28
|
|
|
DstBlock "Math\nFunction2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 30
|
|
|
Points [0, 30]
|
|
|
DstBlock "Math\nFunction5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 31
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "eye(6)"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 34
|
|
|
SrcBlock "H"
|
|
|
SrcPort 1
|
|
|
Points [185, 0]
|
|
|
Branch {
|
|
|
ZOrder 35
|
|
|
DstBlock "Math\nFunction1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 36
|
|
|
Points [0, -30]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 37
|
|
|
SrcBlock "Product4"
|
|
|
SrcPort 1
|
|
|
Points [80, 0]
|
|
|
Branch {
|
|
|
ZOrder 38
|
|
|
DstBlock "K"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 39
|
|
|
Points [0, -305; -650, 0; 0, 25]
|
|
|
Branch {
|
|
|
ZOrder 40
|
|
|
Points [110, 0]
|
|
|
Branch {
|
|
|
ZOrder 41
|
|
|
Points [0, 30]
|
|
|
DstBlock "Math\nFunction6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 42
|
|
|
DstBlock "Product6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 43
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 44
|
|
|
SrcBlock " LU Inverse"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 45
|
|
|
SrcBlock "Sum3"
|
|
|
SrcPort 1
|
|
|
DstBlock " LU Inverse"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 46
|
|
|
SrcBlock "R"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 47
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 48
|
|
|
SrcBlock "Math\nFunction1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2482"
|
|
|
Name "P(k/k)"
|
|
|
Position [488, 83, 516, 97]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
VerticalAlignment "top"
|
|
|
ForegroundColor "red"
|
|
|
ZOrder -1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2481"
|
|
|
Name "P(k+1/k+1)"
|
|
|
Position [377, 107, 427, 121]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
ZOrder -2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2480"
|
|
|
Name "P(k+1//k)"
|
|
|
Position [542, 272, 584, 286]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -3
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2479"
|
|
|
Name "P(k+1/k)"
|
|
|
Position [668, 152, 707, 166]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
ZOrder -4
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
Name "Matrix\nConcatenation"
|
|
|
SID "2483"
|
|
|
Ports [2, 1]
|
|
|
Position [425, 76, 480, 129]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Mode "Multidimensional array"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2484"
|
|
|
Ports [2, 1]
|
|
|
Position [230, 124, 280, 186]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2485"
|
|
|
Ports [2, 1]
|
|
|
Position [230, 70, 280, 105]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2486"
|
|
|
Ports [1, 1]
|
|
|
Position [305, 76, 340, 104]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "6"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[1 2 3]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2487"
|
|
|
Ports [2, 1]
|
|
|
Position [495, 78, 515, 182]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "2488"
|
|
|
Ports [2, 1]
|
|
|
Position [105, 139, 140, 201]
|
|
|
ZOrder -9
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
Inputs "+-"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType UnitDelay
|
|
|
Name "Unit Delay"
|
|
|
SID "2489"
|
|
|
Position [230, 29, 280, 61]
|
|
|
ZOrder -10
|
|
|
BlockMirror on
|
|
|
ShowName off
|
|
|
SampleTime "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "zeros(3,1)"
|
|
|
SID "2490"
|
|
|
Position [360, 106, 410, 124]
|
|
|
ZOrder -11
|
|
|
ShowName off
|
|
|
Value "zeros(3,1)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "X"
|
|
|
SID "2491"
|
|
|
Position [540, 123, 570, 137]
|
|
|
ZOrder -12
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "A_K"
|
|
|
SrcPort 2
|
|
|
Points [60, 0; 0, 30]
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Matrix\nConcatenation"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "zeros(3,1)"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, 150; -295, 0; 0, -55]
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Unit Delay"
|
|
|
SrcPort 1
|
|
|
Points [-20, 0; 0, 50]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
DstBlock "A_K"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Q_e"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "A_K"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 15
|
|
|
Points [0, -85]
|
|
|
DstBlock "Unit Delay"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 16
|
|
|
DstBlock "X"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2495"
|
|
|
Name "x(k /k )"
|
|
|
Position [195, 28, 226, 42]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
VerticalAlignment "top"
|
|
|
ZOrder -1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2494"
|
|
|
Name "<22>˿<EFBFBD><CBBF><EFBFBD><EFBFBD><EFBFBD>λʱ<CEBB><CAB1>ʾѡ<CABE><D1A1>CGF"
|
|
|
Position [149, 201, 296, 218]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -2
|
|
|
FontSize 12
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2493"
|
|
|
Name "x(k+1/k)"
|
|
|
Position [275, 107, 312, 121]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -3
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2492"
|
|
|
Name "x(k+1/k+1)"
|
|
|
Position [519, 152, 568, 166]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -4
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Out_q"
|
|
|
SID "2496"
|
|
|
Ports [2, 1]
|
|
|
Position [465, 30, 540, 130]
|
|
|
ZOrder -4
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "Out_q"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q_meas"
|
|
|
SID "2497"
|
|
|
Position [300, 68, 330, 82]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "X-Qe"
|
|
|
SID "2498"
|
|
|
Position [15, 138, 45, 152]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2499"
|
|
|
Position [95, 122, 130, 138]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "2500"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 80, 240, 110]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Operator "sqrt"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "2501"
|
|
|
Ports [2, 1]
|
|
|
Position [260, 69, 265, 171]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "2502"
|
|
|
Ports [2, 1]
|
|
|
Position [360, 52, 440, 143]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
AncestorBlock "my/Subsystem1"
|
|
|
LibraryVersion "*"
|
|
|
FontName "Arial"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 56
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><>Ԫ<EFBFBD><D4AA>\\n<>˻<EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
SIDHighWatermark "9"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Q1"
|
|
|
SID "2502:1"
|
|
|
Position [30, 108, 60, 122]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Q2"
|
|
|
SID "2502:2"
|
|
|
Position [30, 158, 60, 172]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn"
|
|
|
SID "2502:3"
|
|
|
Position [185, 94, 400, 116]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[5]-u[2]*u[6]-u[3]*u[7]-u[4]*u[8]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn1"
|
|
|
SID "2502:4"
|
|
|
Position [185, 119, 400, 141]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[6]+u[2]*u[5]+u[3]*u[8]-u[4]*u[7]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn2"
|
|
|
SID "2502:5"
|
|
|
Position [185, 144, 400, 166]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[7]-u[2]*u[8]+u[3]*u[5]+u[4]*u[6]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn3"
|
|
|
SID "2502:6"
|
|
|
Position [185, 169, 400, 191]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[8]+u[2]*u[7]-u[3]*u[6]+u[4]*u[5]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "2502:7"
|
|
|
Ports [4, 1]
|
|
|
Position [420, 90, 450, 195]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux3"
|
|
|
SID "2502:8"
|
|
|
Ports [2, 1]
|
|
|
Position [110, 88, 140, 192]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Inputs "2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Q"
|
|
|
SID "2502:9"
|
|
|
Position [485, 138, 515, 152]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Q1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Q2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Mux3"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 15]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 25]
|
|
|
DstBlock "Fcn3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Fcn2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, -10]
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, -25]
|
|
|
DstBlock "Fcn"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Fcn"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Fcn2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Fcn3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Q"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2503"
|
|
|
Ports [2, 1]
|
|
|
Position [175, 85, 195, 105]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|-+"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "norm(u,2)"
|
|
|
SID "2504"
|
|
|
Ports [1, 1]
|
|
|
Position [85, 81, 160, 109]
|
|
|
ZOrder -8
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "norm(u,2)"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Qe"
|
|
|
SID "2505"
|
|
|
Position [25, 88, 55, 102]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux"
|
|
|
SID "2506"
|
|
|
Ports [1, 3]
|
|
|
Position [100, 29, 105, 161]
|
|
|
ZOrder -2
|
|
|
BackgroundColor "black"
|
|
|
ShowName off
|
|
|
Outputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2507"
|
|
|
Ports [2, 1]
|
|
|
Position [160, 26, 205, 59]
|
|
|
ZOrder -3
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2508"
|
|
|
Ports [2, 1]
|
|
|
Position [160, 71, 205, 104]
|
|
|
ZOrder -4
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2509"
|
|
|
Ports [2, 1]
|
|
|
Position [160, 116, 205, 149]
|
|
|
ZOrder -5
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2510"
|
|
|
Ports [3, 1]
|
|
|
Position [255, 80, 275, 100]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "norm(Qe,2)"
|
|
|
SID "2511"
|
|
|
Position [315, 83, 345, 97]
|
|
|
ZOrder -7
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Qe"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 3
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 2
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [55, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
Points [55, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "norm(Qe,2)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "q_est"
|
|
|
SID "2512"
|
|
|
Position [490, 93, 520, 107]
|
|
|
ZOrder -9
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
DstBlock "q_est"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "X-Qe"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, -50]
|
|
|
DstBlock "norm(u,2)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
Points [50, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "norm(u,2)"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "q_meas"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Out_w"
|
|
|
SID "2513"
|
|
|
Ports [2, 1]
|
|
|
Position [465, 175, 540, 270]
|
|
|
ZOrder -5
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "Out_w"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "db"
|
|
|
SID "2514"
|
|
|
Position [30, 128, 60, 142]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w_meas"
|
|
|
SID "2515"
|
|
|
Position [30, 153, 60, 167]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto"
|
|
|
SID "2516"
|
|
|
Position [30, 87, 70, 103]
|
|
|
ZOrder -3
|
|
|
BlockMirror on
|
|
|
ForegroundColor "red"
|
|
|
NamePlacement "alternate"
|
|
|
GotoTag "b"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "2517"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 123, 95, 147]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2518"
|
|
|
Ports [2, 1]
|
|
|
Position [275, 125, 295, 145]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|-+"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2519"
|
|
|
Ports [2, 1]
|
|
|
Position [140, 125, 160, 145]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "++|"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType UnitDelay
|
|
|
Name "Unit Delay"
|
|
|
SID "2520"
|
|
|
Position [205, 75, 240, 115]
|
|
|
ZOrder -7
|
|
|
BlockMirror on
|
|
|
ShowName off
|
|
|
SampleTime "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "w_est"
|
|
|
SID "2521"
|
|
|
Position [330, 128, 360, 142]
|
|
|
ZOrder -8
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Unit Delay"
|
|
|
SrcPort 1
|
|
|
Points [-50, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Goto"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [85, 0]
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, -40]
|
|
|
DstBlock "Unit Delay"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "db"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "w_meas"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "w_est"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Sel:Qe"
|
|
|
SID "2522"
|
|
|
Ports [1, 1]
|
|
|
Position [390, 88, 435, 122]
|
|
|
ZOrder -6
|
|
|
InputPortWidth "6"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[1 2 3]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Sel:db"
|
|
|
SID "2523"
|
|
|
Ports [1, 1]
|
|
|
Position [390, 183, 435, 217]
|
|
|
ZOrder -7
|
|
|
InputPortWidth "6"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[4 5 6]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "q2Qe"
|
|
|
SID "2524"
|
|
|
Ports [2, 1]
|
|
|
Position [220, 93, 270, 142]
|
|
|
ZOrder -8
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "q2Qe"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "qHat-"
|
|
|
SID "2525"
|
|
|
Position [35, 83, 65, 97]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q_meas"
|
|
|
SID "2526"
|
|
|
Position [35, 128, 65, 142]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2527"
|
|
|
Ports [1, 1]
|
|
|
Position [305, 91, 340, 139]
|
|
|
ZOrder -3
|
|
|
InputPortWidth "4"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 4]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "2528"
|
|
|
Ports [2, 1]
|
|
|
Position [190, 67, 270, 158]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
AncestorBlock "my/Subsystem1"
|
|
|
LibraryVersion "*"
|
|
|
FontName "Arial"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 57
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><>Ԫ<EFBFBD><D4AA>\\n<>˻<EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
SIDHighWatermark "9"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Q1"
|
|
|
SID "2528:1"
|
|
|
Position [30, 108, 60, 122]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Q2"
|
|
|
SID "2528:2"
|
|
|
Position [30, 158, 60, 172]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn"
|
|
|
SID "2528:3"
|
|
|
Position [185, 94, 400, 116]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[5]-u[2]*u[6]-u[3]*u[7]-u[4]*u[8]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn1"
|
|
|
SID "2528:4"
|
|
|
Position [185, 119, 400, 141]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[6]+u[2]*u[5]+u[3]*u[8]-u[4]*u[7]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn2"
|
|
|
SID "2528:5"
|
|
|
Position [185, 144, 400, 166]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[7]-u[2]*u[8]+u[3]*u[5]+u[4]*u[6]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn3"
|
|
|
SID "2528:6"
|
|
|
Position [185, 169, 400, 191]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "red"
|
|
|
ShowName off
|
|
|
Expr "u[1]*u[8]+u[2]*u[7]-u[3]*u[6]+u[4]*u[5]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "2528:7"
|
|
|
Ports [4, 1]
|
|
|
Position [420, 90, 450, 195]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux3"
|
|
|
SID "2528:8"
|
|
|
Ports [2, 1]
|
|
|
Position [110, 88, 140, 192]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Inputs "2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Q"
|
|
|
SID "2528:9"
|
|
|
Position [485, 138, 515, 152]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "blue"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Q1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Q2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Mux3"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 15]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 25]
|
|
|
DstBlock "Fcn3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Fcn2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, -10]
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, -25]
|
|
|
DstBlock "Fcn"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Fcn1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Fcn"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Fcn1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Fcn2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Fcn3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Q"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "q_inv"
|
|
|
SID "2529"
|
|
|
Ports [1, 1]
|
|
|
Position [100, 75, 145, 105]
|
|
|
ZOrder -5
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "q_inv"
|
|
|
Location [-4, 0, 1284, 668]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "q"
|
|
|
SID "2530"
|
|
|
Position [25, 93, 55, 107]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux"
|
|
|
SID "2531"
|
|
|
Ports [1, 4]
|
|
|
Position [95, 27, 100, 168]
|
|
|
ZOrder -2
|
|
|
BackgroundColor "black"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2532"
|
|
|
Position [125, 65, 155, 95]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2533"
|
|
|
Position [125, 100, 155, 130]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2534"
|
|
|
Position [125, 135, 155, 165]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2535"
|
|
|
Ports [4, 1]
|
|
|
Position [195, 26, 200, 169]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "inv(q)"
|
|
|
SID "2536"
|
|
|
Position [240, 93, 270, 107]
|
|
|
ZOrder -7
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "q"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 2
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 3
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 4
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "inv(q)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qe"
|
|
|
SID "2537"
|
|
|
Position [365, 108, 395, 122]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "q_meas"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Qe"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "qHat-"
|
|
|
SrcPort 1
|
|
|
DstBlock "q_inv"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "q_inv"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "q_sat"
|
|
|
SID "2538"
|
|
|
Ports [1]
|
|
|
Position [650, 39, 680, 71]
|
|
|
ZOrder 1
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','a_sat2','DataLoggingDecimation','20','DataL"
|
|
|
"oggingDecimateData',true,'DataLoggingSaveFormat','Array'),extmgr.Configuration('Visuals','Time Domain',true,'Seria"
|
|
|
"lizedDisplays',{struct('MinYLimReal','-0.1737','MaxYLimReal','1.13041','YLabelReal','','MinYLimMag','0.00000','Max"
|
|
|
"YLimMag','1.13041','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Ax"
|
|
|
"esTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.074509"
|
|
|
"8039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450980"
|
|
|
"39215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Tit"
|
|
|
"le','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',4,'LineNames',{{'Out_q:1"
|
|
|
"','Out_q:2','Out_q:3','Out_q:4'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal"
|
|
|
"','-0.1737','MaxYLimReal','1.13041','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.13041','LegendVisibilit"
|
|
|
"y','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.6"
|
|
|
"86274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0."
|
|
|
"411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509"
|
|
|
"803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertie"
|
|
|
"sCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),ext"
|
|
|
"mgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',t"
|
|
|
"rue,'Version','2018b')),'Version','2018b','Location',[286 114 1314 785])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "q_sat1"
|
|
|
SID "2539"
|
|
|
Ports [1]
|
|
|
Position [200, 264, 230, 296]
|
|
|
ZOrder 3
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "C++SS(StrPVP('Location','[6, 43, 1034, 714]'),StrPVP('Open','off'),StrPVP('ZoomMode','yo"
|
|
|
"nly'),MxPVP('AxesTitles',53,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',56,'struct(''FigureColor"
|
|
|
"'',''[0.5 0.5 0.5]'',''AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 1;0 1 1;1"
|
|
|
" 0 0;0 1 0;0 0 1]'',''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''MarkerStyles'','"
|
|
|
"'none|none|none|none|none|none'')'),StrPVP('ShowLegends','off'),StrPVP('YMin','-37.5'),StrPVP('YMax','2.5'),StrPVP"
|
|
|
"('SaveToWorkspace','on'),StrPVP('SaveName','a_sat4'),StrPVP('LimitDataPoints','off'),StrPVP('Decimation','20'),Str"
|
|
|
"PVP('BlockParamSampleTime','0'),StrPVP('ScrollMode','off'),StrPVP('DataFormat','Array'),StrPVP('BlockParamSampleIn"
|
|
|
"put','off'))"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "w2q_dis"
|
|
|
SID "2540"
|
|
|
Ports [1, 1]
|
|
|
Position [125, 94, 195, 116]
|
|
|
ZOrder -9
|
|
|
NamePlacement "alternate"
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "w2q_dis"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w_meas"
|
|
|
SID "2541"
|
|
|
Position [25, 38, 55, 52]
|
|
|
ZOrder -1
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2542"
|
|
|
Position [15, 117, 40, 133]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2543"
|
|
|
Position [15, 252, 40, 268]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2544"
|
|
|
Position [15, 387, 40, 403]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant3"
|
|
|
SID "2545"
|
|
|
Position [15, 522, 40, 538]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux4"
|
|
|
SID "2546"
|
|
|
Ports [1, 3]
|
|
|
Position [140, 17, 185, 103]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Outputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From1"
|
|
|
SID "2547"
|
|
|
Position [15, 168, 50, 182]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From10"
|
|
|
SID "2548"
|
|
|
Position [15, 473, 50, 487]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From11"
|
|
|
SID "2549"
|
|
|
Position [15, 448, 50, 462]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From12"
|
|
|
SID "2550"
|
|
|
Position [15, 498, 50, 512]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From13"
|
|
|
SID "2551"
|
|
|
Position [210, 223, 245, 237]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From14"
|
|
|
SID "2552"
|
|
|
Position [210, 253, 245, 267]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From15"
|
|
|
SID "2553"
|
|
|
Position [210, 193, 245, 207]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From2"
|
|
|
SID "2554"
|
|
|
Position [15, 193, 50, 207]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From3"
|
|
|
SID "2555"
|
|
|
Position [15, 143, 50, 157]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From4"
|
|
|
SID "2556"
|
|
|
Position [15, 303, 50, 317]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From5"
|
|
|
SID "2557"
|
|
|
Position [15, 278, 50, 292]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From6"
|
|
|
SID "2558"
|
|
|
Position [15, 228, 50, 242]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From7"
|
|
|
SID "2559"
|
|
|
Position [15, 338, 50, 352]
|
|
|
ZOrder -19
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From8"
|
|
|
SID "2560"
|
|
|
Position [15, 363, 50, 377]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From9"
|
|
|
SID "2561"
|
|
|
Position [15, 413, 50, 427]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "wx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2562"
|
|
|
Position [75, 140, 100, 160]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2563"
|
|
|
Position [75, 165, 100, 185]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain3"
|
|
|
SID "2564"
|
|
|
Position [75, 190, 100, 210]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain4"
|
|
|
SID "2565"
|
|
|
Position [340, 320, 365, 340]
|
|
|
ZOrder -25
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain5"
|
|
|
SID "2566"
|
|
|
Position [75, 360, 100, 380]
|
|
|
ZOrder -26
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain6"
|
|
|
SID "2567"
|
|
|
Position [75, 495, 100, 515]
|
|
|
ZOrder -27
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain7"
|
|
|
SID "2568"
|
|
|
Position [75, 300, 100, 320]
|
|
|
ZOrder -28
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto1"
|
|
|
SID "2569"
|
|
|
Position [215, 22, 250, 38]
|
|
|
ZOrder -29
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
GotoTag "wx"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto2"
|
|
|
SID "2570"
|
|
|
Position [215, 52, 250, 68]
|
|
|
ZOrder -30
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
GotoTag "wy"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto3"
|
|
|
SID "2571"
|
|
|
Position [215, 82, 250, 98]
|
|
|
ZOrder -31
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "yellow"
|
|
|
ShowName off
|
|
|
GotoTag "wz"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
Name "Matrix\nConcatenation"
|
|
|
SID "2572"
|
|
|
Ports [4, 1]
|
|
|
Position [225, 281, 305, 374]
|
|
|
ZOrder -32
|
|
|
ShowName off
|
|
|
NumInputs "4"
|
|
|
Mode "Multidimensional array"
|
|
|
ConcatenateDimension "2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2573"
|
|
|
Ports [4, 1]
|
|
|
Position [130, 111, 160, 214]
|
|
|
ZOrder -33
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "2574"
|
|
|
Ports [3, 1]
|
|
|
Position [270, 187, 300, 273]
|
|
|
ZOrder -34
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
Inputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux2"
|
|
|
SID "2575"
|
|
|
Ports [4, 1]
|
|
|
Position [130, 221, 160, 324]
|
|
|
ZOrder -35
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux3"
|
|
|
SID "2576"
|
|
|
Ports [4, 1]
|
|
|
Position [130, 331, 160, 434]
|
|
|
ZOrder -36
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux4"
|
|
|
SID "2577"
|
|
|
Ports [4, 1]
|
|
|
Position [130, 441, 160, 544]
|
|
|
ZOrder -37
|
|
|
ForegroundColor "[0.501961, 0.250980, 0.250980]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Arial"
|
|
|
FontSize 12
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2578"
|
|
|
Ports [2, 1]
|
|
|
Position [510, 216, 525, 274]
|
|
|
ZOrder -38
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2579"
|
|
|
Ports [2, 1]
|
|
|
Position [90, 28, 105, 92]
|
|
|
ZOrder -39
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2580"
|
|
|
Ports [2, 1]
|
|
|
Position [510, 286, 525, 344]
|
|
|
ZOrder -40
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product4"
|
|
|
SID "2581"
|
|
|
Ports [2, 1]
|
|
|
Position [605, 260, 650, 335]
|
|
|
ZOrder -41
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2582"
|
|
|
Ports [2, 1]
|
|
|
Position [555, 210, 580, 350]
|
|
|
ZOrder -42
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType UnitDelay
|
|
|
Name "Unit Delay"
|
|
|
SID "2583"
|
|
|
Position [610, 360, 645, 400]
|
|
|
ZOrder -43
|
|
|
BlockMirror on
|
|
|
ForegroundColor "red"
|
|
|
InitialCondition "qbo"
|
|
|
SampleTime "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "cos"
|
|
|
SID "2584"
|
|
|
Position [425, 218, 485, 242]
|
|
|
ZOrder -44
|
|
|
ShowName off
|
|
|
Expr "cos(u/2)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "eye(4)"
|
|
|
SID "2585"
|
|
|
Position [425, 249, 470, 271]
|
|
|
ZOrder -45
|
|
|
ShowName off
|
|
|
Value "eye(4)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "norm(u,2)"
|
|
|
SID "2586"
|
|
|
Ports [1, 1]
|
|
|
Position [325, 216, 380, 244]
|
|
|
ZOrder -46
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "norm(u,2)"
|
|
|
Location [-4, 0, 1284, 668]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w"
|
|
|
SID "2587"
|
|
|
Position [25, 78, 55, 92]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux"
|
|
|
SID "2588"
|
|
|
Ports [1, 3]
|
|
|
Position [100, 19, 105, 151]
|
|
|
ZOrder -2
|
|
|
BackgroundColor "black"
|
|
|
ShowName off
|
|
|
Outputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "2589"
|
|
|
Ports [1, 1]
|
|
|
Position [295, 65, 320, 95]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Operator "sqrt"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2590"
|
|
|
Ports [2, 1]
|
|
|
Position [160, 16, 205, 49]
|
|
|
ZOrder -4
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2591"
|
|
|
Ports [2, 1]
|
|
|
Position [160, 61, 205, 94]
|
|
|
ZOrder -5
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2592"
|
|
|
Ports [2, 1]
|
|
|
Position [160, 106, 205, 139]
|
|
|
ZOrder -6
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2593"
|
|
|
Ports [3, 1]
|
|
|
Position [255, 70, 275, 90]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "norm(w,2)"
|
|
|
SID "2594"
|
|
|
Position [340, 73, 370, 87]
|
|
|
ZOrder -8
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
DstBlock "norm(w,2)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "w"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 3
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 2
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, -15]
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [55, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
Points [55, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "s_time"
|
|
|
SID "2595"
|
|
|
Position [25, 65, 65, 85]
|
|
|
ZOrder -47
|
|
|
ShowName off
|
|
|
Value "s_time"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "sin"
|
|
|
SID "2596"
|
|
|
Position [425, 289, 485, 311]
|
|
|
ZOrder -48
|
|
|
ShowName off
|
|
|
Expr "sin(u/2)/u"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "q_hat"
|
|
|
SID "2597"
|
|
|
Position [710, 293, 740, 307]
|
|
|
ZOrder -49
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Unit Delay"
|
|
|
SrcPort 1
|
|
|
Points [-15, 0]
|
|
|
DstBlock "Product4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Product4"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "q_hat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 80]
|
|
|
DstBlock "Unit Delay"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "sin"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "eye(4)"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "cos"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "norm(u,2)"
|
|
|
SrcPort 1
|
|
|
Points [25, 0]
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "cos"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "sin"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "norm(u,2)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "From15"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "From13"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "From14"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Gain4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "Matrix\nConcatenation"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "s_time"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "w_meas"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 23
|
|
|
SrcBlock "Demux4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "Demux4"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Demux4"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "From3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "From1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "From2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 31
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "Gain3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 34
|
|
|
SrcBlock "From5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 35
|
|
|
SrcBlock "Gain7"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 36
|
|
|
SrcBlock "From6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 37
|
|
|
SrcBlock "From4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 38
|
|
|
SrcBlock "From7"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 39
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 40
|
|
|
SrcBlock "From8"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 41
|
|
|
SrcBlock "Gain5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 42
|
|
|
SrcBlock "From9"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux3"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 43
|
|
|
SrcBlock "From11"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 44
|
|
|
SrcBlock "Constant3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 45
|
|
|
SrcBlock "From12"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 46
|
|
|
SrcBlock "Gain6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 47
|
|
|
SrcBlock "From10"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 48
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
Points [35, 0; 0, 125]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 49
|
|
|
SrcBlock "Mux2"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, 40]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 50
|
|
|
SrcBlock "Mux3"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, -45]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 51
|
|
|
SrcBlock "Mux4"
|
|
|
SrcPort 1
|
|
|
Points [35, 0; 0, -130]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 4
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "w2tra_matrix"
|
|
|
SID "2598"
|
|
|
Ports [1, 1]
|
|
|
Position [220, 160, 270, 200]
|
|
|
ZOrder -10
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "w2tra_matrix"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w_meas"
|
|
|
SID "2599"
|
|
|
Position [25, 38, 55, 52]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2600"
|
|
|
Position [30, 135, 60, 165]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "eye(3)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2601"
|
|
|
Position [190, 30, 220, 60]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2602"
|
|
|
Position [125, 135, 155, 165]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Gain "-0.5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
Name "Matrix\nConcatenation"
|
|
|
SID "2603"
|
|
|
Ports [2, 1]
|
|
|
Position [245, 69, 300, 111]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Mode "Multidimensional array"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
Name "Matrix\nConcatenation1"
|
|
|
SID "2604"
|
|
|
Ports [2, 1]
|
|
|
Position [245, 139, 300, 181]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Mode "Multidimensional array"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
Name "Matrix\nConcatenation2"
|
|
|
SID "2605"
|
|
|
Ports [2, 1]
|
|
|
Position [375, 104, 430, 146]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
Mode "Multidimensional array"
|
|
|
ConcatenateDimension "2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "W_2_Wx"
|
|
|
SID "2606"
|
|
|
Ports [1, 1]
|
|
|
Position [85, 25, 150, 65]
|
|
|
ZOrder -8
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "W_2_Wx"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In_w"
|
|
|
SID "2607"
|
|
|
Position [25, 133, 55, 147]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2608"
|
|
|
Position [195, 240, 225, 270]
|
|
|
ZOrder -2
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux"
|
|
|
SID "2609"
|
|
|
Ports [1, 3]
|
|
|
Position [85, 53, 90, 227]
|
|
|
ZOrder -3
|
|
|
BackgroundColor "black"
|
|
|
ShowName off
|
|
|
Outputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2610"
|
|
|
Position [130, 30, 160, 60]
|
|
|
ZOrder -4
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2611"
|
|
|
Position [130, 95, 160, 125]
|
|
|
ZOrder -5
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2612"
|
|
|
Position [130, 155, 160, 185]
|
|
|
ZOrder -6
|
|
|
Gain "-1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Concatenate
|
|
|
Name "Matrix\nConcatenation"
|
|
|
SID "2613"
|
|
|
Ports [3, 1]
|
|
|
Position [375, 104, 430, 146]
|
|
|
ZOrder -7
|
|
|
NumInputs "3"
|
|
|
Mode "Multidimensional array"
|
|
|
ConcatenateDimension "2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2614"
|
|
|
Ports [3, 1]
|
|
|
Position [275, 25, 280, 85]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "2615"
|
|
|
Ports [3, 1]
|
|
|
Position [275, 95, 280, 155]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux2"
|
|
|
SID "2616"
|
|
|
Ports [3, 1]
|
|
|
Position [275, 180, 280, 240]
|
|
|
ZOrder -10
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out_wx"
|
|
|
SID "2617"
|
|
|
Position [465, 118, 495, 132]
|
|
|
ZOrder -11
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "In_w"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, -25]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, -105]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, -90]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, -35]
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [105, 0; 0, 65]
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 2
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, -30]
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
Points [95, 0; 0, 50]
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 3
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, -30]
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 15
|
|
|
Points [130, 0; 0, -145]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
Points [60, 0; 0, -65]
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
Points [55, 0; 0, -35]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
Points [25, 0; 0, 165]
|
|
|
DstBlock "Mux2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
Points [35, 0; 0, 55]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Mux2"
|
|
|
SrcPort 1
|
|
|
Points [35, 0; 0, -70]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Matrix\nConcatenation"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out_wx"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "onstant"
|
|
|
SID "2618"
|
|
|
Position [30, 85, 60, 115]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
Value "zeros(3)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "A"
|
|
|
SID "2619"
|
|
|
Position [465, 118, 495, 132]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Matrix\nConcatenation2"
|
|
|
SrcPort 1
|
|
|
DstBlock "A"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Matrix\nConcatenation1"
|
|
|
SrcPort 1
|
|
|
Points [25, 0; 0, -25]
|
|
|
DstBlock "Matrix\nConcatenation2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Matrix\nConcatenation"
|
|
|
SrcPort 1
|
|
|
Points [25, 0; 0, 25]
|
|
|
DstBlock "Matrix\nConcatenation2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Matrix\nConcatenation1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "onstant"
|
|
|
SrcPort 1
|
|
|
Points [130, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 70]
|
|
|
DstBlock "Matrix\nConcatenation1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
DstBlock "Matrix\nConcatenation"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "W_2_Wx"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "w_meas"
|
|
|
SrcPort 1
|
|
|
DstBlock "W_2_Wx"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "w2wn"
|
|
|
SID "2620"
|
|
|
Ports [1, 1]
|
|
|
Position [100, 168, 170, 192]
|
|
|
ZOrder -11
|
|
|
NamePlacement "alternate"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "w2wn"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "w"
|
|
|
SID "2621"
|
|
|
Position [15, 48, 45, 62]
|
|
|
ZOrder -1
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From"
|
|
|
SID "2622"
|
|
|
Position [20, 101, 65, 119]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "b"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2623"
|
|
|
Ports [2, 1]
|
|
|
Position [85, 45, 105, 65]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "|+-"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "w_n"
|
|
|
SID "2624"
|
|
|
Position [185, 48, 215, 62]
|
|
|
ZOrder -4
|
|
|
BackgroundColor "darkGreen"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "w_n"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "w"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "From"
|
|
|
SrcPort 1
|
|
|
Points [25, 0]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "w_sat"
|
|
|
SID "2625"
|
|
|
Ports [1]
|
|
|
Position [650, 184, 680, 216]
|
|
|
ZOrder 2
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','a_sat3','DataLoggingDecimation','20','DataL"
|
|
|
"oggingDecimateData',true,'DataLoggingSaveFormat','Array'),extmgr.Configuration('Visuals','Time Domain',true,'Seria"
|
|
|
"lizedDisplays',{struct('MinYLimReal','-0.00128','MaxYLimReal','0.00216','YLabelReal','','MinYLimMag','0.00000','Ma"
|
|
|
"xYLimMag','0.00216','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'A"
|
|
|
"xesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.07450"
|
|
|
"98039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098"
|
|
|
"039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Ti"
|
|
|
"tle','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Out_w:"
|
|
|
"1','Out_w:2','Out_w:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.001"
|
|
|
"28','MaxYLimReal','0.00216','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00216','LegendVisibility','off'"
|
|
|
",'XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509"
|
|
|
"803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.41176470"
|
|
|
"5882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.27450980392156"
|
|
|
"9 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',"
|
|
|
"{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Conf"
|
|
|
"iguration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',true,'Ver"
|
|
|
"sion','2018b')),'Version','2018b','Location',[286 114 1314 785])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "w_sat1"
|
|
|
SID "2626"
|
|
|
Ports [1]
|
|
|
Position [200, 329, 230, 361]
|
|
|
ZOrder 4
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','a_sat5','DataLoggingDecimation','20','DataL"
|
|
|
"oggingDecimateData',true,'DataLoggingSaveFormat','Array'),extmgr.Configuration('Visuals','Time Domain',true,'Seria"
|
|
|
"lizedDisplays',{struct('MinYLimReal','-0.0014','MaxYLimReal','0.00223','YLabelReal','','MinYLimMag','0.00000','Max"
|
|
|
"YLimMag','0.00223','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Ax"
|
|
|
"esTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.074509"
|
|
|
"8039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450980"
|
|
|
"39215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Tit"
|
|
|
"le','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'w_meas:"
|
|
|
"1','w_meas:2','w_meas:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.0"
|
|
|
"014','MaxYLimReal','0.00223','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00223','LegendVisibility','off"
|
|
|
"','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.68627450"
|
|
|
"9803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.4117647"
|
|
|
"05882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.2745098039215"
|
|
|
"69 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache'"
|
|
|
",{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Con"
|
|
|
"figuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',true,'Ve"
|
|
|
"rsion','2018b')),'Version','2018b','Location',[286 114 1314 785])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "q_est"
|
|
|
SID "2627"
|
|
|
Position [565, 73, 595, 87]
|
|
|
ZOrder -12
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "w_est"
|
|
|
SID "2628"
|
|
|
Position [565, 218, 595, 232]
|
|
|
ZOrder -13
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Out_w"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 2
|
|
|
DstBlock "w_est"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, -25]
|
|
|
DstBlock "w_sat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "q_meas"
|
|
|
SrcPort 1
|
|
|
Points [6, 0]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 150]
|
|
|
DstBlock "q_sat1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "q2Qe"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Out_q"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
DstBlock "q_est"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [0, -25]
|
|
|
DstBlock "q_sat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "w2wn"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, -25; -125, 0; 0, -50]
|
|
|
DstBlock "w2q_dis"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "w2tra_matrix"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "w2tra_matrix"
|
|
|
SrcPort 1
|
|
|
DstBlock "KF"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "w2q_dis"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 15
|
|
|
DstBlock "q2Qe"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 16
|
|
|
Points [0, -50]
|
|
|
DstBlock "Out_q"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
Labels [-1, 1]
|
|
|
SrcBlock "w_meas"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
DstBlock "w2wn"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
Points [0, 65; 67, 0]
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
DstBlock "Out_w"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [0, 100]
|
|
|
DstBlock "w_sat1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
Labels [1, 0]
|
|
|
SrcBlock "KF"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
Points [0, 50]
|
|
|
DstBlock "Sel:db"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
Points [0, -45]
|
|
|
DstBlock "Sel:Qe"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Sel:db"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out_w"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "Sel:Qe"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out_q"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "q2Qe"
|
|
|
SrcPort 1
|
|
|
DstBlock "KF"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2630"
|
|
|
Name "F(t)"
|
|
|
Position [235, 206, 252, 220]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
VerticalAlignment "top"
|
|
|
ZOrder -1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2629"
|
|
|
Name "w_hat"
|
|
|
Position [188, 185, 216, 199]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
VerticalAlignment "top"
|
|
|
ZOrder -2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qbi"
|
|
|
SID "1824"
|
|
|
Position [665, 78, 695, 92]
|
|
|
ZOrder -6
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Wbi"
|
|
|
SID "1825"
|
|
|
Position [665, 128, 695, 142]
|
|
|
ZOrder -7
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Qbe"
|
|
|
SrcPort 1
|
|
|
Points [38, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, -60]
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
DstBlock "Star Sensor"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Wbe"
|
|
|
SrcPort 1
|
|
|
Points [39, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
Points [0, 85]
|
|
|
DstBlock "Scope1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "Gyroscope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "Star Sensor"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
Points [53, 0]
|
|
|
Branch {
|
|
|
ZOrder 31
|
|
|
Points [0, -60]
|
|
|
DstBlock "Scope2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 30
|
|
|
DstBlock "Qbi"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Gyroscope"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 2
|
|
|
Points [56, 0]
|
|
|
Branch {
|
|
|
ZOrder 33
|
|
|
Points [0, 85]
|
|
|
DstBlock "Scope3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 32
|
|
|
DstBlock "Wbi"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qbo/Qbc"
|
|
|
SID "1826"
|
|
|
Position [620, 122, 650, 138]
|
|
|
ZOrder -7
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Wbo/Wbc"
|
|
|
SID "1827"
|
|
|
Position [620, 202, 650, 218]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Qbe"
|
|
|
SrcPort 1
|
|
|
Points [25, 0; 0, 5]
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "B2"
|
|
|
SrcPort 1
|
|
|
Points [30, 0; 0, 40]
|
|
|
DstBlock "Qbo/Qbc"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "B2"
|
|
|
SrcPort 2
|
|
|
Points [30, 0; 0, 10]
|
|
|
DstBlock "Wbo/Wbc"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Wbe"
|
|
|
SrcPort 1
|
|
|
Points [25, 0; 0, 5]
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Qd"
|
|
|
SrcPort 1
|
|
|
DstBlock "B2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Subsystem"
|
|
|
SrcPort 1
|
|
|
Points [65, 0; 0, -60]
|
|
|
DstBlock "B2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Subsystem"
|
|
|
SrcPort 2
|
|
|
DstBlock "B2"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "wd"
|
|
|
SrcPort 1
|
|
|
Points [175, 0; 0, 65]
|
|
|
DstBlock "B2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1829"
|
|
|
Name "q_b_i"
|
|
|
Position [229, 137, 248, 164]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1830"
|
|
|
Name "\\omega_b_i"
|
|
|
Position [212, 182, 234, 209]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1831"
|
|
|
Name "q_d"
|
|
|
Position [217, 28, 233, 55]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 16
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Disturb"
|
|
|
SID "1832"
|
|
|
Ports [0, 1]
|
|
|
Position [450, 190, 560, 230]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 58
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Disturb"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Clock
|
|
|
Name "Clock"
|
|
|
SID "1834"
|
|
|
Position [-245, 44, -225, 76]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn4"
|
|
|
SID "1835"
|
|
|
Position [-170, 20, -140, 40]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Expr "-1.44e-4+2.44e-4*sin(Omega0*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn5"
|
|
|
SID "1836"
|
|
|
Position [-170, 80, -140, 100]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Expr "8.10e-5+1.44e-4*sin(Omega0*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Fcn
|
|
|
Name "Fcn6"
|
|
|
SID "1837"
|
|
|
Position [-170, 50, -140, 70]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Expr "1.65e-3+2.83e-4*sin(Omega0*u+50*pi/180)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux1"
|
|
|
SID "1838"
|
|
|
Ports [3, 1]
|
|
|
Position [-105, 12, -80, 108]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2797"
|
|
|
Ports [1]
|
|
|
Position [-10, -41, 20, -9]
|
|
|
ZOrder 61
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr."
|
|
|
"Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources"
|
|
|
"','WiredSimulink',true,'DataLoggingVariableName','ScopeData2'),extmgr.Configuration('Visuals','Time Domain',true,'S"
|
|
|
"erializedDisplays',{struct('MinYLimReal','-0.0004','MaxYLimReal','0.00213','YLabelReal','','MinYLimMag','0.00000','"
|
|
|
"MaxYLimMag','0.00213','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'"
|
|
|
"AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.07450"
|
|
|
"98039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450980"
|
|
|
"39215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Titl"
|
|
|
"e','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Fcn4','Fc"
|
|
|
"n6','Fcn5'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.0004','MaxYLimRe"
|
|
|
"al','0.00213','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00213','LegendVisibility','off','XGrid',true,'"
|
|
|
"YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.6862745"
|
|
|
"09803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.066666666"
|
|
|
"6666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.058823529411"
|
|
|
"7647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Conf"
|
|
|
"iguration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Td"
|
|
|
SID "1839"
|
|
|
Position [75, 143, 105, 157]
|
|
|
ZOrder -7
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Fcn6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Clock"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Fcn6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 30]
|
|
|
DstBlock "Fcn5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, -30]
|
|
|
DstBlock "Fcn4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Fcn5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Fcn4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Mux1"
|
|
|
SrcPort 1
|
|
|
Points [33, 0]
|
|
|
Branch {
|
|
|
ZOrder 62
|
|
|
Points [0, 90]
|
|
|
DstBlock "Td"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 54
|
|
|
Points [0, -85]
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From"
|
|
|
SID "1840"
|
|
|
Position [715, 91, 755, 119]
|
|
|
ZOrder -4
|
|
|
CloseFcn "tagdialog Close"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "1841"
|
|
|
Position [765, 210, 795, 240]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Gain "180/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "1842"
|
|
|
Position [760, 360, 790, 390]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Gain "180/pi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "SatModel"
|
|
|
SID "1843"
|
|
|
Ports [3, 3]
|
|
|
Position [620, 189, 705, 411]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 26
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 59
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><>\\n<><6E>\\nģ\\n<><6E>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "SatModel"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 212
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Te"
|
|
|
SID "1844"
|
|
|
Position [65, 58, 95, 72]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Tc"
|
|
|
SID "1845"
|
|
|
Position [65, 118, 95, 132]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "h"
|
|
|
SID "1846"
|
|
|
Position [65, 178, 95, 192]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 14
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Dynamic"
|
|
|
SID "1847"
|
|
|
Ports [3, 1]
|
|
|
Position [140, 35, 225, 215]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 60
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD>\\n<><6E>\\n<><6E>\\nѧ\\n(<28><><EFBFBD><EFBFBD>)')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Dynamic"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 212
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Te"
|
|
|
SID "1848"
|
|
|
Position [220, 183, 250, 197]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Tc"
|
|
|
SID "1849"
|
|
|
Position [220, 233, 250, 247]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "h"
|
|
|
SID "1850"
|
|
|
Position [200, 293, 230, 307]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Angle Conversion"
|
|
|
SID "2775"
|
|
|
Ports [1, 1]
|
|
|
Position [120, 477, 165, 493]
|
|
|
ZOrder 22
|
|
|
LibraryVersion "1.140"
|
|
|
SourceBlock "aerolibconvert2/Angle Conversion"
|
|
|
SourceType "Angle Conversion"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
IU "deg"
|
|
|
OU "rad"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2772"
|
|
|
Position [290, 546, 375, 584]
|
|
|
ZOrder 19
|
|
|
ShowName off
|
|
|
Value "[0,-Omega0,0]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant3"
|
|
|
SID "2769"
|
|
|
Position [0, 466, 85, 504]
|
|
|
ZOrder 16
|
|
|
ShowName off
|
|
|
Value "[phi0 theta0 psi0]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From3"
|
|
|
SID "1851"
|
|
|
Position [-30, 71, 15, 89]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "SpAng"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2777"
|
|
|
Position [545, 505, 575, 535]
|
|
|
ZOrder 23
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto6"
|
|
|
SID "1852"
|
|
|
Position [535, 220, 585, 240]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "dWs"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator"
|
|
|
SID "1853"
|
|
|
Ports [2, 1]
|
|
|
Position [665, 181, 695, 214]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InitialConditionSource "external"
|
|
|
InitialCondition "W0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1854"
|
|
|
Ports [2, 1]
|
|
|
Position [450, 117, 495, 248]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2773"
|
|
|
Ports [2, 1]
|
|
|
Position [440, 492, 485, 548]
|
|
|
ZOrder 20
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Rotation Angles to\nDirection Cosine Matrix"
|
|
|
SID "2771"
|
|
|
Ports [1, 1]
|
|
|
Position [290, 464, 390, 506]
|
|
|
ZOrder 18
|
|
|
AttributesFormatString "Rotation Order: %<rotationOrder>"
|
|
|
LibraryVersion "1.509"
|
|
|
SourceBlock "sharedtransform/Rotation Angles to\nDirection Cosine Matrix"
|
|
|
SourceType "Ang2DCM"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
rotationOrder "ZXY"
|
|
|
aMode "aMode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "1855"
|
|
|
Ports [1]
|
|
|
Position [465, 274, 495, 306]
|
|
|
ZOrder -8
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingSaveFormat','StructureWithTime','DataLoggingLimitDataPoints',true,'D"
|
|
|
"ataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Se"
|
|
|
"rializedDisplays',{struct('MinYLimReal','-2.89363','MaxYLimReal','2.05266','YLabelReal','','MinYLimMag','0.0000"
|
|
|
"0','MaxYLimMag','2.89363','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',["
|
|
|
"0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.066666666666"
|
|
|
"6667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313725490"
|
|
|
"19608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65"
|
|
|
"0980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,"
|
|
|
"'LineNames',{{'Sum2:1','Sum2:2','Sum2:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct("
|
|
|
"'MinYLimReal','-2.89363','MaxYLimReal','2.05266','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','2.89363',"
|
|
|
"'LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0."
|
|
|
"686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0."
|
|
|
"623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0"
|
|
|
".717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<"
|
|
|
"SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowCo"
|
|
|
"ntent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Conf"
|
|
|
"iguration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[11 60 1291 769])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope1"
|
|
|
SID "1856"
|
|
|
Ports [1]
|
|
|
Position [405, 309, 435, 341]
|
|
|
ZOrder -9
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1','DataLoggingSaveFormat','StructureWithTim"
|
|
|
"e','DataLoggingLimitDataPoints',true,'DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configu"
|
|
|
"ration('Visuals','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00027','MaxYLimReal','0.0004"
|
|
|
"3','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00043','LegendVisibility','off','XGrid',true,'YGrid',"
|
|
|
"true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.6862745098"
|
|
|
"03922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.160784"
|
|
|
"31372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235"
|
|
|
"294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'User"
|
|
|
"DefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsystem2:1','Subsystem2:2','Subsystem2:3'}},'ShowConten"
|
|
|
"t',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.00027','MaxYLimReal','0.00043','YLab"
|
|
|
"elReal','','MinYLimMag','0.00000','MaxYLimMag','0.00043','LegendVisibility','off','XGrid',true,'YGrid',true,'Pl"
|
|
|
"otMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'"
|
|
|
"ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549"
|
|
|
";0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.058823529411764"
|
|
|
"7 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedC"
|
|
|
"hannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tool"
|
|
|
"s','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018"
|
|
|
"b','Location',[188 365 512 604])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope2"
|
|
|
SID "2774"
|
|
|
Ports [1]
|
|
|
Position [675, 504, 705, 536]
|
|
|
ZOrder 21
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingSaveFormat','StructureWithTime','DataLoggingLimitDataPoints',true,'D"
|
|
|
"ataLoggingDecimation','1','DataLoggingDecimateData',true,'DataLoggingVariableName','ScopeData2'),extmgr.Configu"
|
|
|
"ration('Visuals','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00119','MaxYLimReal','0.0001"
|
|
|
"3','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00119','LegendVisibility','off','XGrid',true,'YGrid',"
|
|
|
"true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.6862745098"
|
|
|
"03922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.160784"
|
|
|
"31372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235"
|
|
|
"294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'User"
|
|
|
"DefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Gain:1','Gain:2','Gain:3'}},'ShowContent',true,'Placement"
|
|
|
"',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.00119','MaxYLimReal','0.00013','YLabelReal','','MinYLi"
|
|
|
"mMag','0.00000','MaxYLimMag','0.00119','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,"
|
|
|
"'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0"
|
|
|
".0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098"
|
|
|
" 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980"
|
|
|
"39215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},"
|
|
|
"'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigatio"
|
|
|
"n',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','201"
|
|
|
"8b','Location',[11 60 1291 769])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2770"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 466, 250, 504]
|
|
|
ZOrder 17
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem2"
|
|
|
SID "1857"
|
|
|
Ports [2, 1]
|
|
|
Position [260, 270, 315, 310]
|
|
|
ZOrder -10
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 61
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem2"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "1858"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "1859"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1860"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "1861"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "1862"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "1863"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "1864"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "1865"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "1866"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "1867"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem3"
|
|
|
SID "1868"
|
|
|
Ports [2, 1]
|
|
|
Position [110, 122, 270, 153]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 62
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem3"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 212
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "1869"
|
|
|
Position [50, 103, 80, 117]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ws"
|
|
|
SID "1870"
|
|
|
Position [50, 238, 80, 252]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From10"
|
|
|
SID "1871"
|
|
|
Position [45, 346, 90, 364]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Fs2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From11"
|
|
|
SID "1872"
|
|
|
Position [335, 496, 380, 514]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "deta21"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From12"
|
|
|
SID "1873"
|
|
|
Position [335, 431, 380, 449]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From13"
|
|
|
SID "1874"
|
|
|
Position [335, 456, 380, 474]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Fs1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From14"
|
|
|
SID "1875"
|
|
|
Position [335, 546, 380, 564]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From15"
|
|
|
SID "1876"
|
|
|
Position [335, 571, 380, 589]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Fs2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From16"
|
|
|
SID "1877"
|
|
|
Position [335, 111, 380, 129]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ras1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From17"
|
|
|
SID "1878"
|
|
|
Position [335, 226, 380, 244]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ras2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From18"
|
|
|
SID "1879"
|
|
|
Position [335, 316, 380, 334]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From19"
|
|
|
SID "1880"
|
|
|
Position [335, 291, 380, 309]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From2"
|
|
|
SID "1881"
|
|
|
Position [335, 41, 380, 59]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From20"
|
|
|
SID "1882"
|
|
|
Position [45, 436, 90, 454]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From21"
|
|
|
SID "1883"
|
|
|
Position [45, 456, 90, 474]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From22"
|
|
|
SID "1884"
|
|
|
Position [45, 416, 90, 434]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ras1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From23"
|
|
|
SID "1885"
|
|
|
Position [45, 476, 90, 494]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "deta11"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From24"
|
|
|
SID "1886"
|
|
|
Position [45, 536, 90, 554]
|
|
|
ZOrder -18
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From25"
|
|
|
SID "1887"
|
|
|
Position [45, 556, 90, 574]
|
|
|
ZOrder -19
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From26"
|
|
|
SID "1888"
|
|
|
Position [45, 516, 90, 534]
|
|
|
ZOrder -20
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ras2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From27"
|
|
|
SID "1889"
|
|
|
Position [45, 576, 90, 594]
|
|
|
ZOrder -21
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "deta21"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From28"
|
|
|
SID "1890"
|
|
|
Position [335, 406, 380, 424]
|
|
|
ZOrder -22
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "deta12"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From29"
|
|
|
SID "1891"
|
|
|
Position [335, 521, 380, 539]
|
|
|
ZOrder -23
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "deta22"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From3"
|
|
|
SID "1892"
|
|
|
Position [335, 156, 380, 174]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From4"
|
|
|
SID "1893"
|
|
|
Position [45, 306, 90, 324]
|
|
|
ZOrder -25
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From5"
|
|
|
SID "1894"
|
|
|
Position [45, 376, 90, 394]
|
|
|
ZOrder -26
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From6"
|
|
|
SID "1895"
|
|
|
Position [335, 76, 380, 94]
|
|
|
ZOrder -27
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From7"
|
|
|
SID "1896"
|
|
|
Position [335, 191, 380, 209]
|
|
|
ZOrder -28
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From8"
|
|
|
SID "1897"
|
|
|
Position [45, 276, 90, 294]
|
|
|
ZOrder -29
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "Fs1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From9"
|
|
|
SID "1898"
|
|
|
Position [335, 381, 380, 399]
|
|
|
ZOrder -30
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "deta11"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2781"
|
|
|
Position [630, 186, 665, 214]
|
|
|
ZOrder 23
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2780"
|
|
|
Position [630, 71, 665, 99]
|
|
|
ZOrder 22
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain3"
|
|
|
SID "2782"
|
|
|
Position [630, 416, 665, 444]
|
|
|
ZOrder 24
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain4"
|
|
|
SID "2783"
|
|
|
Position [630, 531, 665, 559]
|
|
|
ZOrder 25
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto"
|
|
|
SID "1899"
|
|
|
Position [260, 235, 310, 255]
|
|
|
ZOrder -31
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "Ws"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto1"
|
|
|
SID "1900"
|
|
|
Position [260, 195, 310, 215]
|
|
|
ZOrder -32
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "ang"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto2"
|
|
|
SID "1901"
|
|
|
Position [260, 40, 310, 60]
|
|
|
ZOrder -33
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "Fs1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto3"
|
|
|
SID "1902"
|
|
|
Position [260, 80, 310, 100]
|
|
|
ZOrder -34
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "Fs2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto4"
|
|
|
SID "1903"
|
|
|
Position [260, 120, 310, 140]
|
|
|
ZOrder -35
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "Ras1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto5"
|
|
|
SID "1904"
|
|
|
Position [260, 160, 310, 180]
|
|
|
ZOrder -36
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "Ras2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto6"
|
|
|
SID "1905"
|
|
|
Position [260, 275, 310, 295]
|
|
|
ZOrder -37
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "deta11"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto7"
|
|
|
SID "1906"
|
|
|
Position [260, 345, 310, 365]
|
|
|
ZOrder -38
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "deta21"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto8"
|
|
|
SID "1907"
|
|
|
Position [260, 305, 310, 325]
|
|
|
ZOrder -39
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "deta12"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto9"
|
|
|
SID "1908"
|
|
|
Position [260, 375, 310, 395]
|
|
|
ZOrder -40
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "deta22"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem"
|
|
|
SID "1909"
|
|
|
Ports [2, 2]
|
|
|
Position [120, 268, 235, 332]
|
|
|
ZOrder -41
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 63
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "+Y<><59><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ<EFBFBD>趨"
|
|
|
Description "<22>˴<EFBFBD><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD>ͬ<EFBFBD><CDAC>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ̬<C4A3><EFBFBD><F1B6AFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>Ӱ<EFBFBD><D3B0>"
|
|
|
Display "disp('+Y<><59><EFBFBD><EFBFBD>\\nģ̬<C4A3><CCAC><EFBFBD><EFBFBD>')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 10
|
|
|
Object {
|
|
|
$ObjectID 64
|
|
|
Type "edit"
|
|
|
Name "eta11"
|
|
|
Prompt "һ<><D2BB>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 65
|
|
|
Type "edit"
|
|
|
Name "eta12"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 66
|
|
|
Type "edit"
|
|
|
Name "eta13"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 67
|
|
|
Type "edit"
|
|
|
Name "eta14"
|
|
|
Prompt "<22>Ľ<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 68
|
|
|
Type "edit"
|
|
|
Name "eta15"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 69
|
|
|
Type "edit"
|
|
|
Name "eta16"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 70
|
|
|
Type "edit"
|
|
|
Name "eta17"
|
|
|
Prompt "<22>߽<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 71
|
|
|
Type "edit"
|
|
|
Name "eta18"
|
|
|
Prompt "<22>˽<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 72
|
|
|
Type "edit"
|
|
|
Name "eta19"
|
|
|
Prompt "<22>Ž<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 73
|
|
|
Type "edit"
|
|
|
Name "eta110"
|
|
|
Prompt "ʮ<><CAAE>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
Array {
|
|
|
Type "Simulink.dialog.Group"
|
|
|
Dimension 2
|
|
|
Object {
|
|
|
$ObjectID 74
|
|
|
Prompt "%<MaskType>"
|
|
|
Object {
|
|
|
$PropName "DialogControls"
|
|
|
$ObjectID 75
|
|
|
$ClassName "Simulink.dialog.Text"
|
|
|
Prompt "%<MaskDescription>"
|
|
|
Name "DescTextVar"
|
|
|
}
|
|
|
Name "DescGroupVar"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 76
|
|
|
Prompt "Simulink:studio:ToolBarParametersMenu"
|
|
|
Array {
|
|
|
Type "Simulink.dialog.parameter.Edit"
|
|
|
Dimension 10
|
|
|
Object {
|
|
|
$ObjectID 77
|
|
|
Name "eta11"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 78
|
|
|
Name "eta12"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 79
|
|
|
Name "eta13"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 80
|
|
|
Name "eta14"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 81
|
|
|
Name "eta15"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 82
|
|
|
Name "eta16"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 83
|
|
|
Name "eta17"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 84
|
|
|
Name "eta18"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 85
|
|
|
Name "eta19"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 86
|
|
|
Name "eta110"
|
|
|
}
|
|
|
PropName "DialogControls"
|
|
|
}
|
|
|
Name "ParameterGroupVar"
|
|
|
}
|
|
|
PropName "DialogControls"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Fs"
|
|
|
SID "1910"
|
|
|
Position [160, 88, 190, 102]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "1911"
|
|
|
Position [60, 208, 90, 222]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "1912"
|
|
|
Position [110, 175, 150, 195]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Value "B_rot1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative2"
|
|
|
SID "1913"
|
|
|
Position [220, 204, 265, 226]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From19"
|
|
|
SID "1914"
|
|
|
Position [220, 116, 265, 134]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "dWs"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1915"
|
|
|
Ports [1, 1]
|
|
|
Position [505, 135, 535, 175]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Times New Roman"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator2"
|
|
|
SID "2744"
|
|
|
Ports [1, 1]
|
|
|
Position [615, 135, 645, 175]
|
|
|
ZOrder 1
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Times New Roman"
|
|
|
InitialCondition "[eta11 eta12 eta13 eta14 eta15 eta16 eta17 eta18 eta19 eta110]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "1917"
|
|
|
Ports [1, 1]
|
|
|
Position [220, 85, 250, 105]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain7"
|
|
|
SID "1919"
|
|
|
Position [505, 223, 540, 247]
|
|
|
ZOrder -10
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "2*xi_1*Omega_1"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain8"
|
|
|
SID "1920"
|
|
|
Position [505, 258, 540, 282]
|
|
|
ZOrder -11
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Omega_1^2"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1921"
|
|
|
Ports [2, 1]
|
|
|
Position [300, 78, 335, 142]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "1922"
|
|
|
Ports [2, 1]
|
|
|
Position [300, 168, 335, 232]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "1923"
|
|
|
Ports [4, 1]
|
|
|
Position [415, 96, 440, 214]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Times New Roman"
|
|
|
Inputs "----"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2wa1"
|
|
|
SID "1924"
|
|
|
Ports [1, 1]
|
|
|
Position [110, 201, 150, 229]
|
|
|
ZOrder -15
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2wa1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "1925"
|
|
|
Position [25, 68, 55, 82]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "1926"
|
|
|
Position [80, 29, 105, 51]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "1927"
|
|
|
Position [165, 64, 200, 86]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "1928"
|
|
|
Ports [3, 1]
|
|
|
Position [135, 56, 140, 94]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "1929"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 62, 105, 88]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "2"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wa1"
|
|
|
SID "1930"
|
|
|
Position [230, 68, 260, 82]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 25]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 20]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "wa1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "eta1"
|
|
|
SID "1931"
|
|
|
Ports [1]
|
|
|
Position [730, 139, 760, 171]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','eta1','DataLoggingSaveFormat','Array'"
|
|
|
",'DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'"
|
|
|
"SerializedDisplays',{struct('MinYLimReal','-0.00478','MaxYLimReal','0.00275','YLabelReal','','MinYLimMag','0.000"
|
|
|
"00','MaxYLimMag','0.00478','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',["
|
|
|
"0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666"
|
|
|
"667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019"
|
|
|
"608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65098"
|
|
|
"0392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',10,'Li"
|
|
|
"neNames',{{'Integrator2:1','Integrator2:2','Integrator2:3','Integrator2:4','Integrator2:5','Integrator2:6','Inte"
|
|
|
"grator2:7','Integrator2:8','Integrator2:9','Integrator2:10'}},'ShowContent',true,'Placement',1)},'DisplayPropert"
|
|
|
"yDefaults',struct('MinYLimReal','-0.00478','MaxYLimReal','0.00275','YLabelReal','','MinYLimMag','0.00000','MaxYL"
|
|
|
"imMag','0.00478','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Ax"
|
|
|
"esTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745"
|
|
|
"098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745"
|
|
|
"098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863"
|
|
|
"],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{"
|
|
|
"[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),"
|
|
|
"extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[1 66 1601 855"
|
|
|
"])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "eta2"
|
|
|
SID "1932"
|
|
|
Ports [1]
|
|
|
Position [560, 34, 590, 66]
|
|
|
ZOrder -17
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','eta','DataLoggingDecimation','20','Da"
|
|
|
"taLoggingDecimateData',true,'DataLoggingSaveFormat','Array'),extmgr.Configuration('Visuals','Time Domain',true,'"
|
|
|
"SerializedDisplays',{struct('MinYLimReal','-0.00871','MaxYLimReal','0.00999','YLabelReal','','MinYLimMag','0.000"
|
|
|
"00','MaxYLimMag','0.00999','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',["
|
|
|
"0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666"
|
|
|
"667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019"
|
|
|
"608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65098"
|
|
|
"0392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',10,'Li"
|
|
|
"neNames',{{'Sum1:1','Sum1:2','Sum1:3','Sum1:4','Sum1:5','Sum1:6','Sum1:7','Sum1:8','Sum1:9','Sum1:10'}},'ShowCon"
|
|
|
"tent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.00871','MaxYLimReal','0.00999','YL"
|
|
|
"abelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00999','LegendVisibility','off','XGrid',true,'YGrid',true,'P"
|
|
|
"lotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'"
|
|
|
"ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;"
|
|
|
"0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 "
|
|
|
"1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChan"
|
|
|
"nelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','"
|
|
|
"Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'"
|
|
|
"Version','2018b','Location',[320 222 1336 510])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "deta1"
|
|
|
SID "1933"
|
|
|
Position [600, 88, 630, 102]
|
|
|
ZOrder -18
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "deta2"
|
|
|
SID "1934"
|
|
|
Position [515, 88, 545, 102]
|
|
|
ZOrder -19
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [35, 0]
|
|
|
Branch {
|
|
|
ZOrder 2
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, -60]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "deta2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, -45]
|
|
|
DstBlock "eta2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
Points [35, 0]
|
|
|
Branch {
|
|
|
ZOrder 29
|
|
|
DstBlock "Integrator2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 80]
|
|
|
DstBlock "Matrix\nGain7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [0, -60]
|
|
|
DstBlock "deta1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "Integrator2"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, 115]
|
|
|
DstBlock "Matrix\nGain8"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "eta1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Matrix\nGain8"
|
|
|
SrcPort 1
|
|
|
Points [-120, 0; 0, -100]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "From19"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Fs"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2wa1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "Derivative2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, -60]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "ang2wa1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 23
|
|
|
SrcBlock "Matrix\nGain7"
|
|
|
SrcPort 1
|
|
|
Points [-110, 0; 0, -35]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1935"
|
|
|
Name "\\eta"
|
|
|
Position [672, 124, 687, 153]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Arial"
|
|
|
FontSize 24
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1936"
|
|
|
Name "\\eta\\prime\\prime"
|
|
|
Position [457, 124, 481, 153]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontName "Arial"
|
|
|
FontSize 24
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1937"
|
|
|
Name "\\eta\\prime"
|
|
|
Position [585, 124, 605, 153]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "Arial"
|
|
|
FontSize 24
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1938"
|
|
|
Name "\\eta\\prime\\prime<6D><65><EFBFBD><EFBFBD>2\\xi\\Omega\\eta\\prime<6D><65>\\Omega^2\\eta<74><61>F_s^T\\omega_s\\prime<6D><65>F_A^T\\omega_a\\prime"
|
|
|
Position [181, 286, 488, 324]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -4
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1939"
|
|
|
Name "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC><EFBFBD>꣺\\eta_ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣩\nģ̬<C4A3><CCAC><EFBFBD><EFBFBD>Ƶ<EFBFBD>ʣ<EFBFBD>\\Omega_ (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD>ṩ<EFBFBD><E1B9A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>\\"
|
|
|
"xi_ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD>ṩ<EFBFBD><E1B9A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>F_s <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣭ʱ<E3A3AD>䣩\nת<6E><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>F_a <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>"
|
|
|
"<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣭ʱ<E3A3AD>䣩\n<><6E><EFBFBD>ǹ<EFBFBD><C7B9>Խ<EFBFBD><D4BD>ٶȣ<D9B6>\\omega_s<5F><73><EFBFBD><EFBFBD><EFBFBD>룩\n<><6E><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>\\omega_a_1<5F><31><EFBFBD><EFBFBD><EFBFBD>룩"
|
|
|
Position [56, 323, 410, 473]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -5
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1940"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>̣<EFBFBD>"
|
|
|
Position [35, 295, 177, 320]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -6
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1941"
|
|
|
Name "+Y<><59><EFBFBD>Է<EFBFBD><D4B7><EFBFBD>ת<EFBFBD><D7AA>ʱģ̬<C4A3><CCAC><EFBFBD><EFBFBD>"
|
|
|
Position [233, 30, 475, 55]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -7
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "1942"
|
|
|
Ports [2, 1]
|
|
|
Position [400, 286, 530, 339]
|
|
|
ZOrder -42
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 87
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD>\\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ws"
|
|
|
SID "1943"
|
|
|
Position [130, 73, 160, 87]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "1944"
|
|
|
Position [130, 103, 160, 117]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType MATLABFcn
|
|
|
Name "MATLAB Fcn2"
|
|
|
SID "1945"
|
|
|
Ports [1, 1]
|
|
|
Position [245, 95, 305, 125]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
MATLABFcn "ang2Iall_new"
|
|
|
OutputDimensions "[3,3]"
|
|
|
Output1D off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "1946"
|
|
|
Ports [2, 1]
|
|
|
Position [375, 93, 405, 157]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "1947"
|
|
|
Ports [2, 1]
|
|
|
Position [460, 70, 525, 110]
|
|
|
ZOrder -5
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 88
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "1948"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "1949"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1950"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "1951"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "1952"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "1953"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "1954"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "1955"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "1956"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "1957"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Scoup"
|
|
|
SID "1958"
|
|
|
Position [575, 83, 605, 97]
|
|
|
ZOrder -6
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "ws"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 2
|
|
|
Points [0, 60]
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
Points [35, 0]
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "MATLAB Fcn2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Scoup"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "MATLAB Fcn2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1959"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [215, 210, 317, 235]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1960"
|
|
|
Name "\\omega_s\\timesI_s\\omega_s"
|
|
|
Position [336, 203, 411, 237]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1961"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
|
|
|
Position [288, 15, 450, 40]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem2"
|
|
|
SID "1962"
|
|
|
Ports [4, 1]
|
|
|
Position [400, 374, 530, 481]
|
|
|
ZOrder -43
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 89
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('+Y<><59><EFBFBD><EFBFBD>\\n\\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem2"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "deta1"
|
|
|
SID "1963"
|
|
|
Position [40, 138, 70, 152]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "deta2"
|
|
|
SID "1964"
|
|
|
Position [40, 208, 70, 222]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ws"
|
|
|
SID "1965"
|
|
|
Position [40, 48, 70, 62]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Fs"
|
|
|
SID "1966"
|
|
|
Position [85, 108, 115, 122]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "1967"
|
|
|
Ports [2, 1]
|
|
|
Position [205, 168, 235, 232]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "1968"
|
|
|
Ports [2, 1]
|
|
|
Position [205, 98, 235, 162]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "1969"
|
|
|
Ports [1, 1]
|
|
|
Position [410, 123, 440, 147]
|
|
|
ZOrder -7
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2798"
|
|
|
Ports [1]
|
|
|
Position [430, 49, 460, 81]
|
|
|
ZOrder 61
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData3'),extmgr.Configuration('Visuals','Time Domain"
|
|
|
"',true,'SerializedDisplays',{struct('MinYLimReal','-0.0002','MaxYLimReal','0.00021','YLabelReal','','MinYLimMag'"
|
|
|
",'0.00000','MaxYLimMag','0.00021','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesC"
|
|
|
"olor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.066666"
|
|
|
"6666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.83137"
|
|
|
"2549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 "
|
|
|
"0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines'"
|
|
|
",3,'LineNames',{{'Subsystem1:1','Subsystem1:2','Subsystem1:3'}},'ShowContent',true,'Placement',1)},'DisplayPrope"
|
|
|
"rtyDefaults',struct('MinYLimReal','-0.0002','MaxYLimReal','0.00021','YLabelReal','','MinYLimMag','0.00000','MaxY"
|
|
|
"LimMag','0.00021','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'A"
|
|
|
"xesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.6235294"
|
|
|
"11764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.3"
|
|
|
"92156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.65098039215686"
|
|
|
"3])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Vers"
|
|
|
"ion','2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope1"
|
|
|
SID "2799"
|
|
|
Ports [1]
|
|
|
Position [410, 204, 440, 236]
|
|
|
ZOrder 62
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData4'),extmgr.Configuration('Visuals','Time Domain"
|
|
|
"',true,'SerializedDisplays',{struct('MinYLimReal','-0.55224','MaxYLimReal','0.5354','YLabelReal','','MinYLimMag'"
|
|
|
",'0.00000','MaxYLimMag','0.55224','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesC"
|
|
|
"olor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.066666"
|
|
|
"6666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.83137"
|
|
|
"2549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 "
|
|
|
"0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines'"
|
|
|
",3,'LineNames',{{'Product2:1','Product2:2','Product2:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDef"
|
|
|
"aults',struct('MinYLimReal','-0.55224','MaxYLimReal','0.5354','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag"
|
|
|
"','0.55224','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTic"
|
|
|
"kColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.6235294117647"
|
|
|
"06 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.3921568"
|
|
|
"62745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),e"
|
|
|
"xtmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','"
|
|
|
"2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "1970"
|
|
|
Ports [2, 1]
|
|
|
Position [265, 45, 330, 85]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 90
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "1971"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "1972"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1973"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "1974"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "1975"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "1976"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "1977"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "1978"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "1979"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "1980"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "1981"
|
|
|
Ports [2, 1]
|
|
|
Position [360, 109, 380, 156]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Ftorquer"
|
|
|
SID "1982"
|
|
|
Position [460, 128, 490, 142]
|
|
|
ZOrder -10
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Fs"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 2
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, 70]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "deta1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
Points [105, 0]
|
|
|
Branch {
|
|
|
ZOrder 15
|
|
|
Points [0, 20]
|
|
|
DstBlock "Scope1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Ftorquer"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "deta2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
Points [0, 55]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1983"
|
|
|
Name "<22><><EFBFBD><EFBFBD>+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T_f_1"
|
|
|
Position [130, 6, 338, 38]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1984"
|
|
|
Name "T_f=F_s\\eta\\prime\\prime+\\omega_s\\timesF_s\\eta\\prime"
|
|
|
Position [171, 243, 322, 276]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "1985"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [55, 250, 157, 275]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem3"
|
|
|
SID "1986"
|
|
|
Ports [2, 2]
|
|
|
Position [120, 338, 235, 402]
|
|
|
ZOrder -44
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 91
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "-Y<><59><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ<EFBFBD>趨"
|
|
|
Description "<22>˴<EFBFBD><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD>ͬ<EFBFBD><CDAC>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ̬<C4A3><EFBFBD><F1B6AFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>Ӱ<EFBFBD><D3B0>"
|
|
|
Display "disp('-Y<><59><EFBFBD><EFBFBD>\\nģ̬<C4A3><CCAC><EFBFBD><EFBFBD>')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 10
|
|
|
Object {
|
|
|
$ObjectID 92
|
|
|
Type "edit"
|
|
|
Name "eta21"
|
|
|
Prompt "һ<><D2BB>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 93
|
|
|
Type "edit"
|
|
|
Name "eta22"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 94
|
|
|
Type "edit"
|
|
|
Name "eta23"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 95
|
|
|
Type "edit"
|
|
|
Name "eta24"
|
|
|
Prompt "<22>Ľ<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 96
|
|
|
Type "edit"
|
|
|
Name "eta25"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 97
|
|
|
Type "edit"
|
|
|
Name "eta26"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 98
|
|
|
Type "edit"
|
|
|
Name "eta27"
|
|
|
Prompt "<22>߽<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 99
|
|
|
Type "edit"
|
|
|
Name "eta28"
|
|
|
Prompt "<22>˽<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 100
|
|
|
Type "edit"
|
|
|
Name "eta29"
|
|
|
Prompt "<22>Ž<EFBFBD>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 101
|
|
|
Type "edit"
|
|
|
Name "eta210"
|
|
|
Prompt "ʮ<><CAAE>ģ̬<C4A3><CCAC>ֵ"
|
|
|
Value "0"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
Array {
|
|
|
Type "Simulink.dialog.Group"
|
|
|
Dimension 2
|
|
|
Object {
|
|
|
$ObjectID 102
|
|
|
Prompt "%<MaskType>"
|
|
|
Object {
|
|
|
$PropName "DialogControls"
|
|
|
$ObjectID 103
|
|
|
$ClassName "Simulink.dialog.Text"
|
|
|
Prompt "%<MaskDescription>"
|
|
|
Name "DescTextVar"
|
|
|
}
|
|
|
Name "DescGroupVar"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 104
|
|
|
Prompt "Simulink:studio:ToolBarParametersMenu"
|
|
|
Array {
|
|
|
Type "Simulink.dialog.parameter.Edit"
|
|
|
Dimension 10
|
|
|
Object {
|
|
|
$ObjectID 105
|
|
|
Name "eta21"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 106
|
|
|
Name "eta22"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 107
|
|
|
Name "eta23"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 108
|
|
|
Name "eta24"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 109
|
|
|
Name "eta25"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 110
|
|
|
Name "eta26"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 111
|
|
|
Name "eta27"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 112
|
|
|
Name "eta28"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 113
|
|
|
Name "eta29"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 114
|
|
|
Name "eta210"
|
|
|
}
|
|
|
PropName "DialogControls"
|
|
|
}
|
|
|
Name "ParameterGroupVar"
|
|
|
}
|
|
|
PropName "DialogControls"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem3"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Fs2"
|
|
|
SID "1987"
|
|
|
Position [160, 88, 190, 102]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "1988"
|
|
|
Position [60, 208, 90, 222]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "1989"
|
|
|
Position [110, 175, 150, 195]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Value "B_rot2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative2"
|
|
|
SID "1990"
|
|
|
Position [220, 204, 265, 226]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From19"
|
|
|
SID "1991"
|
|
|
Position [220, 116, 265, 134]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "dWs"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator1"
|
|
|
SID "1992"
|
|
|
Ports [1, 1]
|
|
|
Position [505, 135, 535, 175]
|
|
|
ZOrder -6
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Times New Roman"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator4"
|
|
|
SID "1993"
|
|
|
Ports [1, 1]
|
|
|
Position [615, 135, 645, 175]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Times New Roman"
|
|
|
InitialCondition "[eta21 eta22 eta23 eta24 eta25 eta26 eta27 eta28 eta29 eta210]"
|
|
|
IgnoreLimit on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "1994"
|
|
|
Ports [1, 1]
|
|
|
Position [220, 85, 250, 105]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain7"
|
|
|
SID "1996"
|
|
|
Position [505, 223, 540, 247]
|
|
|
ZOrder -10
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "2*xi_2*Omega_2"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Matrix\nGain8"
|
|
|
SID "1997"
|
|
|
Position [505, 258, 540, 282]
|
|
|
ZOrder -11
|
|
|
BlockMirror on
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "Omega_2^2"
|
|
|
Multiplication "Matrix(K*u)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "1998"
|
|
|
Ports [2, 1]
|
|
|
Position [300, 78, 335, 142]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "1999"
|
|
|
Ports [2, 1]
|
|
|
Position [300, 168, 335, 232]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2000"
|
|
|
Ports [4, 1]
|
|
|
Position [415, 96, 440, 214]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "Times New Roman"
|
|
|
Inputs "----"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2wa2"
|
|
|
SID "2001"
|
|
|
Ports [1, 1]
|
|
|
Position [110, 201, 150, 229]
|
|
|
ZOrder -15
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2wa2"
|
|
|
Location [495, 226, 889, 547]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2002"
|
|
|
Position [25, 68, 55, 82]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2003"
|
|
|
Position [80, 29, 105, 51]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2004"
|
|
|
Position [165, 64, 200, 86]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2005"
|
|
|
Ports [3, 1]
|
|
|
Position [135, 56, 140, 94]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2006"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 62, 105, 88]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "2"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wa2"
|
|
|
SID "2007"
|
|
|
Position [230, 68, 260, 82]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "wa2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 5, 0]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 45]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, 25]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "eta2"
|
|
|
SID "2008"
|
|
|
Ports [1]
|
|
|
Position [730, 139, 760, 171]
|
|
|
ZOrder -16
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','eta2','DataLoggingSaveFormat','Array'"
|
|
|
",'DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'"
|
|
|
"SerializedDisplays',{struct('MinYLimReal','-0.00048','MaxYLimReal','0.00156','YLabelReal','','MinYLimMag','0.000"
|
|
|
"00','MaxYLimMag','0.00156','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',["
|
|
|
"0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666"
|
|
|
"667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019"
|
|
|
"608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65098"
|
|
|
"0392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',10,'Li"
|
|
|
"neNames',{{'Integrator4:1','Integrator4:2','Integrator4:3','Integrator4:4','Integrator4:5','Integrator4:6','Inte"
|
|
|
"grator4:7','Integrator4:8','Integrator4:9','Integrator4:10'}},'ShowContent',true,'Placement',1)},'DisplayPropert"
|
|
|
"yDefaults',struct('MinYLimReal','-0.00048','MaxYLimReal','0.00156','YLabelReal','','MinYLimMag','0.00000','MaxYL"
|
|
|
"imMag','0.00156','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Ax"
|
|
|
"esTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745"
|
|
|
"098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745"
|
|
|
"098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863"
|
|
|
"],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{"
|
|
|
"[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),"
|
|
|
"extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[299 479 1315 "
|
|
|
"767])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "deta1"
|
|
|
SID "2009"
|
|
|
Position [600, 88, 630, 102]
|
|
|
ZOrder -17
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "deta2"
|
|
|
SID "2010"
|
|
|
Position [515, 93, 545, 107]
|
|
|
ZOrder -18
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "ang2wa2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, -60]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Derivative2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 23
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2wa2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Fs2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "From19"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Matrix\nGain8"
|
|
|
SrcPort 1
|
|
|
Points [-120, 0; 0, -100]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Integrator4"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "eta2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, 115]
|
|
|
DstBlock "Matrix\nGain8"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Matrix\nGain7"
|
|
|
SrcPort 1
|
|
|
Points [-105, 0; 0, -35]
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Integrator1"
|
|
|
SrcPort 1
|
|
|
Points [35, 0]
|
|
|
Branch {
|
|
|
ZOrder 17
|
|
|
Points [0, -60]
|
|
|
DstBlock "deta1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
DstBlock "Integrator4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
Points [0, 80]
|
|
|
DstBlock "Matrix\nGain7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [35, 0]
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
DstBlock "Integrator1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 22
|
|
|
Points [0, -55]
|
|
|
DstBlock "deta2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2011"
|
|
|
Name "-Y<><59><EFBFBD>Է<EFBFBD><D4B7><EFBFBD>ת<EFBFBD><D7AA>ʱģ̬<C4A3><CCAC><EFBFBD><EFBFBD>"
|
|
|
Position [233, 30, 475, 55]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2012"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>̣<EFBFBD>"
|
|
|
Position [35, 295, 177, 320]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -2
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2013"
|
|
|
Name "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC><EFBFBD>꣺\\eta_ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣩\nģ̬<C4A3><CCAC><EFBFBD><EFBFBD>Ƶ<EFBFBD>ʣ<EFBFBD>\\Omega_ (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD>ṩ<EFBFBD><E1B9A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>\\"
|
|
|
"xi_ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD>ṩ<EFBFBD><E1B9A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>F_s <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣭ʱ<E3A3AD>䣩\nת<6E><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>F_a <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>"
|
|
|
"<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣭ʱ<E3A3AD>䣩\n<><6E><EFBFBD>ǹ<EFBFBD><C7B9>Խ<EFBFBD><D4BD>ٶȣ<D9B6>\\omega_s<5F><73><EFBFBD><EFBFBD><EFBFBD>룩\n<><6E><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>\\omega_a_2<5F><32><EFBFBD><EFBFBD><EFBFBD>룩"
|
|
|
Position [56, 323, 410, 473]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2014"
|
|
|
Name "\\eta\\prime\\prime<6D><65><EFBFBD><EFBFBD>2\\xi\\Omega\\eta\\prime<6D><65>\\Omega^2\\eta<74><61>F_s^T\\omega_s\\prime<6D><65>F_A^T\\omega_a\\prime"
|
|
|
Position [181, 286, 488, 324]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -4
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2015"
|
|
|
Name "\\eta\\prime"
|
|
|
Position [585, 124, 605, 153]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -5
|
|
|
FontName "Arial"
|
|
|
FontSize 24
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2016"
|
|
|
Name "\\eta\\prime\\prime"
|
|
|
Position [457, 124, 481, 153]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -6
|
|
|
FontName "Arial"
|
|
|
FontSize 24
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2017"
|
|
|
Name "\\eta"
|
|
|
Position [672, 124, 687, 153]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "red"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -7
|
|
|
FontName "Arial"
|
|
|
FontSize 24
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem4"
|
|
|
SID "2018"
|
|
|
Ports [4, 1]
|
|
|
Position [400, 491, 530, 594]
|
|
|
ZOrder -45
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 115
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('-Y<><59><EFBFBD><EFBFBD>\\n\\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem4"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "deta1"
|
|
|
SID "2019"
|
|
|
Position [165, 138, 195, 152]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "deta2"
|
|
|
SID "2020"
|
|
|
Position [165, 208, 195, 222]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ws"
|
|
|
SID "2021"
|
|
|
Position [165, 48, 195, 62]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Fs"
|
|
|
SID "2022"
|
|
|
Position [210, 108, 240, 122]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2023"
|
|
|
Ports [2, 1]
|
|
|
Position [325, 168, 355, 232]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2024"
|
|
|
Ports [2, 1]
|
|
|
Position [325, 98, 355, 162]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "2025"
|
|
|
Ports [1, 1]
|
|
|
Position [535, 123, 565, 147]
|
|
|
ZOrder -7
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "2026"
|
|
|
Ports [2, 1]
|
|
|
Position [390, 45, 455, 85]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 116
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "2027"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "2028"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2029"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2030"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2031"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2032"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "2033"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "2034"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2035"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "2036"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2037"
|
|
|
Ports [2, 1]
|
|
|
Position [485, 109, 505, 156]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Ftorquer"
|
|
|
SID "2038"
|
|
|
Position [585, 128, 615, 142]
|
|
|
ZOrder -10
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Ftorquer"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
Points [110, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "deta1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Fs"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "deta2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 55]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2039"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [180, 250, 282, 275]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2040"
|
|
|
Name "T_f=F_s\\eta\\prime\\prime+\\omega_s\\timesF_s\\eta\\prime"
|
|
|
Position [296, 243, 447, 276]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2041"
|
|
|
Name "<22><><EFBFBD><EFBFBD>-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T_f_2"
|
|
|
Position [255, 6, 463, 38]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem5"
|
|
|
SID "2042"
|
|
|
Ports [3, 1]
|
|
|
Position [400, 33, 530, 137]
|
|
|
ZOrder -46
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 117
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('+Y<><59><EFBFBD><EFBFBD>\\n\\nת<6E><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem5"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ws"
|
|
|
SID "2043"
|
|
|
Position [165, 48, 195, 62]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2044"
|
|
|
Position [0, 138, 30, 152]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ras"
|
|
|
SID "2045"
|
|
|
Position [210, 108, 240, 122]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative2"
|
|
|
SID "2046"
|
|
|
Position [235, 204, 280, 226]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2047"
|
|
|
Ports [2, 1]
|
|
|
Position [330, 168, 360, 232]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2048"
|
|
|
Ports [2, 1]
|
|
|
Position [330, 98, 360, 162]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "2049"
|
|
|
Ports [1, 1]
|
|
|
Position [535, 123, 565, 147]
|
|
|
ZOrder -7
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "2050"
|
|
|
Ports [2, 1]
|
|
|
Position [390, 45, 455, 85]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 118
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "2051"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "2052"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2053"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2054"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2055"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2056"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "2057"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "2058"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2059"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "2060"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2061"
|
|
|
Ports [2, 1]
|
|
|
Position [485, 109, 505, 156]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2wa1"
|
|
|
SID "2062"
|
|
|
Ports [1, 1]
|
|
|
Position [55, 131, 95, 159]
|
|
|
ZOrder -10
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2wa1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2063"
|
|
|
Position [25, 68, 55, 82]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2064"
|
|
|
Position [80, 29, 105, 51]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2065"
|
|
|
Position [165, 64, 200, 86]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2066"
|
|
|
Ports [3, 1]
|
|
|
Position [135, 56, 140, 94]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2067"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 62, 105, 88]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "2"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wa1"
|
|
|
SID "2068"
|
|
|
Position [230, 68, 260, 82]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 25]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 20]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "wa1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Ctorquer"
|
|
|
SID "2069"
|
|
|
Position [585, 128, 615, 142]
|
|
|
ZOrder -11
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Ctorquer"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 55]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
Points [105, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2wa1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Ras"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
Points [0, 70]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Derivative2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "ang2wa1"
|
|
|
SrcPort 1
|
|
|
Points [63, 0]
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [0, 70]
|
|
|
DstBlock "Derivative2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2070"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [180, 250, 282, 275]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2071"
|
|
|
Name "T_c=R_a_s\\omega_A\\prime+\\omega_s\\timesR_a_s\\omega_A"
|
|
|
Position [296, 243, 497, 277]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2072"
|
|
|
Name "<22><><EFBFBD><EFBFBD>+Y<><59><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T_c_1"
|
|
|
Position [235, 6, 483, 38]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem6"
|
|
|
SID "2073"
|
|
|
Ports [3, 1]
|
|
|
Position [400, 149, 530, 251]
|
|
|
ZOrder -47
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 119
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('-Y<><59><EFBFBD><EFBFBD>\\n\\nת<6E><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem6"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ws"
|
|
|
SID "2074"
|
|
|
Position [235, 88, 265, 102]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2075"
|
|
|
Position [100, 178, 130, 192]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ras"
|
|
|
SID "2076"
|
|
|
Position [280, 148, 310, 162]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative2"
|
|
|
SID "2077"
|
|
|
Position [305, 244, 350, 266]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2078"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 208, 425, 272]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2079"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 138, 425, 202]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "2080"
|
|
|
Ports [1, 1]
|
|
|
Position [605, 163, 635, 187]
|
|
|
ZOrder -7
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem1"
|
|
|
SID "2081"
|
|
|
Ports [2, 1]
|
|
|
Position [460, 85, 525, 125]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 120
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem1"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "2082"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "2083"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2084"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2085"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2086"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2087"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "2088"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "2089"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2090"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "2091"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2092"
|
|
|
Ports [2, 1]
|
|
|
Position [555, 149, 575, 196]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2wa2"
|
|
|
SID "2093"
|
|
|
Ports [1, 1]
|
|
|
Position [150, 171, 190, 199]
|
|
|
ZOrder -10
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2wa2"
|
|
|
Location [495, 226, 889, 547]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2094"
|
|
|
Position [25, 68, 55, 82]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2095"
|
|
|
Position [80, 29, 105, 51]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2096"
|
|
|
Position [165, 64, 200, 86]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2097"
|
|
|
Ports [3, 1]
|
|
|
Position [135, 56, 140, 94]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2098"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 62, 105, 88]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "2"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wa2"
|
|
|
SID "2099"
|
|
|
Position [230, 68, 260, 82]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "wa2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 5, 0]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 45]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, 25]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Ctorquer"
|
|
|
SID "2100"
|
|
|
Position [655, 168, 685, 182]
|
|
|
ZOrder -11
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Derivative2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2wa2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
Points [110, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 55]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Ctorquer"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Ras"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, 70]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "ang2wa2"
|
|
|
SrcPort 1
|
|
|
Points [67, 0]
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [0, 70]
|
|
|
DstBlock "Derivative2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2101"
|
|
|
Name "<22><><EFBFBD><EFBFBD>-Y<><59><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T_c_2"
|
|
|
Position [235, 46, 483, 78]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2102"
|
|
|
Name "T_c=R_a_s\\omega_A\\prime+\\omega_s\\timesR_a_s\\omega_A"
|
|
|
Position [322, 311, 523, 345]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2103"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [206, 318, 308, 343]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem7"
|
|
|
SID "2104"
|
|
|
Ports [4, 1]
|
|
|
Position [120, 410, 235, 500]
|
|
|
ZOrder -48
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 121
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('+Y<><59><EFBFBD><EFBFBD>\\n\\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem7"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ras1"
|
|
|
SID "2105"
|
|
|
Position [75, 93, 105, 107]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ws"
|
|
|
SID "2106"
|
|
|
Position [230, 388, 260, 402]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2107"
|
|
|
Position [75, 198, 105, 212]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "deta1"
|
|
|
SID "2108"
|
|
|
Position [75, 273, 105, 287]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2109"
|
|
|
Position [230, 165, 275, 185]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Value "I_a1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2110"
|
|
|
Position [230, 240, 275, 260]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Value "B_rot1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2111"
|
|
|
Position [230, 430, 275, 450]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
Value "I_a1"
|
|
|
VectorParams1D off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant3"
|
|
|
SID "2112"
|
|
|
Position [195, 505, 240, 525]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Value "B_rot1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2113"
|
|
|
Position [230, 194, 275, 216]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative4"
|
|
|
SID "2114"
|
|
|
Position [230, 269, 275, 291]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From19"
|
|
|
SID "2115"
|
|
|
Position [230, 121, 275, 139]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "dWs"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "2116"
|
|
|
Ports [1, 1]
|
|
|
Position [130, 90, 175, 110]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction1"
|
|
|
SID "2745"
|
|
|
Ports [1, 1]
|
|
|
Position [280, 505, 305, 525]
|
|
|
ZOrder 1
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction2"
|
|
|
SID "2746"
|
|
|
Ports [1, 1]
|
|
|
Position [305, 240, 330, 260]
|
|
|
ZOrder 2
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2117"
|
|
|
Ports [2, 1]
|
|
|
Position [365, 83, 395, 147]
|
|
|
ZOrder -13
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2118"
|
|
|
Ports [2, 1]
|
|
|
Position [365, 348, 395, 412]
|
|
|
ZOrder -14
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2119"
|
|
|
Ports [2, 1]
|
|
|
Position [365, 423, 395, 487]
|
|
|
ZOrder -15
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product4"
|
|
|
SID "2120"
|
|
|
Ports [2, 1]
|
|
|
Position [365, 158, 395, 222]
|
|
|
ZOrder -16
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product5"
|
|
|
SID "2121"
|
|
|
Ports [2, 1]
|
|
|
Position [365, 233, 395, 297]
|
|
|
ZOrder -17
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product6"
|
|
|
SID "2122"
|
|
|
Ports [2, 1]
|
|
|
Position [365, 498, 395, 562]
|
|
|
ZOrder -18
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "2123"
|
|
|
Ports [1, 1]
|
|
|
Position [655, 298, 685, 322]
|
|
|
ZOrder -19
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem2"
|
|
|
SID "2124"
|
|
|
Ports [2, 1]
|
|
|
Position [515, 404, 570, 471]
|
|
|
ZOrder -20
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 122
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem2"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "2125"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "2126"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2127"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2128"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2129"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2130"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "2131"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "2132"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2133"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "2134"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2135"
|
|
|
Ports [2, 1]
|
|
|
Position [605, 284, 625, 331]
|
|
|
ZOrder -21
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2136"
|
|
|
Ports [3, 1]
|
|
|
Position [445, 345, 455, 565]
|
|
|
ZOrder -22
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "2137"
|
|
|
Ports [3, 1]
|
|
|
Position [445, 80, 455, 300]
|
|
|
ZOrder -23
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2wa1"
|
|
|
SID "2138"
|
|
|
Ports [1, 1]
|
|
|
Position [130, 194, 175, 216]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2wa1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2139"
|
|
|
Position [25, 68, 55, 82]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2140"
|
|
|
Position [80, 29, 105, 51]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2141"
|
|
|
Position [165, 64, 200, 86]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2142"
|
|
|
Ports [3, 1]
|
|
|
Position [135, 56, 140, 94]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2143"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 62, 105, 88]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "2"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wa1"
|
|
|
SID "2144"
|
|
|
Position [230, 68, 260, 82]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 25]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 20]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "wa1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Tp1"
|
|
|
SID "2145"
|
|
|
Position [705, 303, 735, 317]
|
|
|
ZOrder -25
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Tp1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2wa1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Ras1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 265]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "From19"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "ang2wa1"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
Points [0, 125]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
Points [0, 140]
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [284, 0; 0, 90]
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Derivative4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product5"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "deta1"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 34
|
|
|
DstBlock "Derivative4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [0, 265]
|
|
|
DstBlock "Product6"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 22
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 23
|
|
|
SrcBlock "Constant3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "Product6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Product4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "Product5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 31
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
Points [35, 0; 0, 105]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "Subsystem2"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, -120]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "Math\nFunction1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 36
|
|
|
SrcBlock "Math\nFunction2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2146"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [80, 595, 182, 620]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2147"
|
|
|
Name "T_p=R_a_s^T\\omega_s\\prime+I_A\\omega_A\\prime+F_A\\eta\\prime\\prime+\\omega_A\\times(R_a_s^T\\omeg"
|
|
|
"a_s+I_A\\omega_A+F_A\\eta\\prime)"
|
|
|
Position [196, 586, 627, 624]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2148"
|
|
|
Name "<22><><EFBFBD><EFBFBD>+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T_p_1"
|
|
|
Position [255, 6, 463, 38]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem8"
|
|
|
SID "2149"
|
|
|
Ports [4, 1]
|
|
|
Position [120, 510, 235, 600]
|
|
|
ZOrder -49
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 123
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('+Y<><59><EFBFBD><EFBFBD>\\n\\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem8"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ras2"
|
|
|
SID "2150"
|
|
|
Position [75, 93, 105, 107]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "Ws"
|
|
|
SID "2151"
|
|
|
Position [235, 388, 265, 402]
|
|
|
ZOrder -2
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2152"
|
|
|
Position [75, 198, 105, 212]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "deta2"
|
|
|
SID "2153"
|
|
|
Position [75, 273, 105, 287]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2154"
|
|
|
Position [230, 165, 275, 185]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Value "I_a2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2155"
|
|
|
Position [230, 240, 275, 260]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
Value "B_rot2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2156"
|
|
|
Position [230, 430, 275, 450]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
Value "I_a2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant3"
|
|
|
SID "2157"
|
|
|
Position [230, 505, 275, 525]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Value "B_rot2"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2158"
|
|
|
Position [230, 194, 275, 216]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative4"
|
|
|
SID "2159"
|
|
|
Position [230, 269, 275, 291]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType From
|
|
|
Name "From19"
|
|
|
SID "2160"
|
|
|
Position [230, 121, 275, 139]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.949020, 0.933333, 0.643137]"
|
|
|
ShowName off
|
|
|
CloseFcn "tagdialog Close"
|
|
|
GotoTag "dWs"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction"
|
|
|
SID "2161"
|
|
|
Ports [1, 1]
|
|
|
Position [130, 90, 175, 110]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction1"
|
|
|
SID "2747"
|
|
|
Ports [1, 1]
|
|
|
Position [315, 505, 340, 525]
|
|
|
ZOrder 2
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Math
|
|
|
Name "Math\nFunction2"
|
|
|
SID "2748"
|
|
|
Ports [1, 1]
|
|
|
Position [315, 240, 340, 260]
|
|
|
ZOrder 3
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Operator "transpose"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2162"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 83, 425, 147]
|
|
|
ZOrder -13
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product2"
|
|
|
SID "2163"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 348, 425, 412]
|
|
|
ZOrder -14
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product3"
|
|
|
SID "2164"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 423, 425, 487]
|
|
|
ZOrder -15
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product4"
|
|
|
SID "2165"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 158, 425, 222]
|
|
|
ZOrder -16
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product5"
|
|
|
SID "2166"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 233, 425, 297]
|
|
|
ZOrder -17
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product6"
|
|
|
SID "2167"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 498, 425, 562]
|
|
|
ZOrder -18
|
|
|
ShowName off
|
|
|
Multiplication "Matrix(*)"
|
|
|
InputSameDT off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reshape
|
|
|
Name "Reshape"
|
|
|
SID "2168"
|
|
|
Ports [1, 1]
|
|
|
Position [725, 298, 755, 322]
|
|
|
ZOrder -19
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem2"
|
|
|
SID "2169"
|
|
|
Ports [2, 1]
|
|
|
Position [570, 404, 625, 471]
|
|
|
ZOrder -20
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 124
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Cross\\nProduct')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem2"
|
|
|
Location [128, 52, 776, 536]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "A"
|
|
|
SID "2170"
|
|
|
Position [135, 50, 155, 70]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "B"
|
|
|
SID "2171"
|
|
|
Position [135, 175, 155, 195]
|
|
|
ZOrder -2
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product"
|
|
|
SID "2172"
|
|
|
Ports [2, 1]
|
|
|
Position [290, 52, 320, 83]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Product
|
|
|
Name "Product1"
|
|
|
SID "2173"
|
|
|
Ports [2, 1]
|
|
|
Position [285, 217, 315, 248]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
RndMeth "Floor"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2174"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 35, 230, 85]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2175"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 162, 230, 208]
|
|
|
ZOrder -6
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector2"
|
|
|
SID "2176"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 214, 230, 266]
|
|
|
ZOrder -7
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector3"
|
|
|
SID "2177"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 109, 230, 151]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2178"
|
|
|
Ports [2, 1]
|
|
|
Position [320, 130, 360, 170]
|
|
|
ZOrder -9
|
|
|
ShowName off
|
|
|
IconShape "round"
|
|
|
Inputs "+|-"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "C"
|
|
|
SID "2179"
|
|
|
Position [390, 140, 410, 160]
|
|
|
ZOrder -10
|
|
|
IconDisplay "Port number"
|
|
|
InitialOutput "0"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Selector3"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Selector2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "A"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 15, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 70]
|
|
|
DstBlock "Selector3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "B"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 20, 0]
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, 55]
|
|
|
DstBlock "Selector2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "C"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2180"
|
|
|
Ports [2, 1]
|
|
|
Position [675, 284, 695, 331]
|
|
|
ZOrder -21
|
|
|
ShowName off
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2181"
|
|
|
Ports [3, 1]
|
|
|
Position [470, 345, 480, 565]
|
|
|
ZOrder -22
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "2182"
|
|
|
Ports [3, 1]
|
|
|
Position [470, 80, 480, 300]
|
|
|
ZOrder -23
|
|
|
ShowName off
|
|
|
Inputs "+++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2wa2"
|
|
|
SID "2183"
|
|
|
Ports [1, 1]
|
|
|
Position [130, 194, 175, 216]
|
|
|
ZOrder -24
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2wa2"
|
|
|
Location [246, 107, 952, 486]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2184"
|
|
|
Position [25, 68, 55, 82]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2185"
|
|
|
Position [80, 29, 105, 51]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative3"
|
|
|
SID "2186"
|
|
|
Position [165, 64, 200, 86]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2187"
|
|
|
Ports [3, 1]
|
|
|
Position [135, 56, 140, 94]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2188"
|
|
|
Ports [1, 1]
|
|
|
Position [80, 62, 105, 88]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
InputPortWidth "2"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wa2"
|
|
|
SID "2189"
|
|
|
Position [230, 68, 260, 82]
|
|
|
ZOrder -6
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "wa2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [0, 0; 5, 0]
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 45]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
Points [0, 25]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Tp2"
|
|
|
SID "2190"
|
|
|
Position [775, 303, 805, 317]
|
|
|
ZOrder -25
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Subsystem2"
|
|
|
SrcPort 1
|
|
|
Points [2, 0; 0, -120]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
Points [123, 0; 0, 105]
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Product5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Product4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Product6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Product3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Product2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Constant3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "deta2"
|
|
|
SrcPort 1
|
|
|
Points [55, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
Points [0, 265]
|
|
|
DstBlock "Product6"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
DstBlock "Derivative4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Derivative4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product5"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Derivative3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "ang2wa2"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, 119]
|
|
|
Branch {
|
|
|
ZOrder 35
|
|
|
Points [0, 146]
|
|
|
DstBlock "Product3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [360, 0; 0, 96]
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "Derivative3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 24
|
|
|
SrcBlock "From19"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 25
|
|
|
SrcBlock "Math\nFunction"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
Points [0, 265]
|
|
|
DstBlock "Product2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "Ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Ras2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Math\nFunction"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2wa2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 31
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Reshape"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "Reshape"
|
|
|
SrcPort 1
|
|
|
DstBlock "Tp2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "Math\nFunction1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 34
|
|
|
SrcBlock "Math\nFunction2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Product5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2191"
|
|
|
Name "<22><><EFBFBD><EFBFBD>+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T_p_2"
|
|
|
Position [260, 6, 468, 38]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2192"
|
|
|
Name "T_p=R_a_s^T\\omega_s\\prime+I_A\\omega_A\\prime+F_A\\eta\\prime\\prime+\\omega_A\\times(R_a_s^T\\omeg"
|
|
|
"a_s+I_A\\omega_A+F_A\\eta\\prime)"
|
|
|
Position [196, 586, 627, 624]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2193"
|
|
|
Name "<22><><EFBFBD>㹫ʽ<E3B9AB><CABD>"
|
|
|
Position [80, 595, 182, 620]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2194"
|
|
|
Ports [5, 1]
|
|
|
Position [750, 24, 760, 606]
|
|
|
ZOrder -50
|
|
|
ShowName off
|
|
|
Inputs "+++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_cou1"
|
|
|
SID "2195"
|
|
|
Ports [1]
|
|
|
Position [560, 124, 590, 156]
|
|
|
ZOrder -51
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_cou1','DataLoggingSaveFormat','Array','Da"
|
|
|
"taLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Serial"
|
|
|
"izedDisplays',{struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMag','0.00000','Max"
|
|
|
"YLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Ax"
|
|
|
"esTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.074509"
|
|
|
"8039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450980"
|
|
|
"39215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Tit"
|
|
|
"le','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsyst"
|
|
|
"em5:1','Subsystem5:2','Subsystem5:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLi"
|
|
|
"mReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVis"
|
|
|
"ibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.6862745098039"
|
|
|
"22 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 "
|
|
|
"1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0."
|
|
|
"274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePro"
|
|
|
"pertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1"
|
|
|
")),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measureme"
|
|
|
"nts',true,'Version','2018b')),'Version','2018b','Location',[6 93 1032 436])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_cou2"
|
|
|
SID "2196"
|
|
|
Ports [1]
|
|
|
Position [560, 219, 590, 251]
|
|
|
ZOrder -52
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_cou2','DataLoggingSaveFormat','Array','Da"
|
|
|
"taLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Serial"
|
|
|
"izedDisplays',{struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMag','0.00000','Max"
|
|
|
"YLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Ax"
|
|
|
"esTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.074509"
|
|
|
"8039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450980"
|
|
|
"39215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Tit"
|
|
|
"le','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsyst"
|
|
|
"em6:1','Subsystem6:2','Subsystem6:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLi"
|
|
|
"mReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVis"
|
|
|
"ibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.6862745098039"
|
|
|
"22 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 "
|
|
|
"1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0."
|
|
|
"274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePro"
|
|
|
"pertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1"
|
|
|
")),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measureme"
|
|
|
"nts',true,'Version','2018b')),'Version','2018b','Location',[6 93 1032 436])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_cou3"
|
|
|
SID "2197"
|
|
|
Ports [1]
|
|
|
Position [560, 324, 590, 356]
|
|
|
ZOrder -53
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_cou','DataLoggingSaveFormat','Array','Dat"
|
|
|
"aLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Seriali"
|
|
|
"zedDisplays',{struct('MinYLimReal','-0.00063','MaxYLimReal','0.00032','YLabelReal','','MinYLimMag','0.00000','MaxY"
|
|
|
"LimMag','0.00063','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Axe"
|
|
|
"sTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098"
|
|
|
"039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.074509803"
|
|
|
"9215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Titl"
|
|
|
"e','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsyste"
|
|
|
"m1:1','Subsystem1:2','Subsystem1:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLim"
|
|
|
"Real','-0.00063','MaxYLimReal','0.00032','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00063','LegendVisi"
|
|
|
"bility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68627450980392"
|
|
|
"2 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1"
|
|
|
";1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.2"
|
|
|
"74509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LineProp"
|
|
|
"ertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)"
|
|
|
"),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measuremen"
|
|
|
"ts',true,'Version','2018b')),'Version','2018b','Location',[6 93 1032 436])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_f1"
|
|
|
SID "2198"
|
|
|
Ports [1]
|
|
|
Position [560, 454, 590, 486]
|
|
|
ZOrder -54
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_f1','DataLoggingSaveFormat','Array','Data"
|
|
|
"LoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Serializ"
|
|
|
"edDisplays',{struct('MinYLimReal','-0.5522','MaxYLimReal','0.53537','YLabelReal','','MinYLimMag','0.00000','MaxYLi"
|
|
|
"mMag','0.5522','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTi"
|
|
|
"ckColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039"
|
|
|
"215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.074509803921"
|
|
|
"5686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title',"
|
|
|
"'%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsystem2:"
|
|
|
"1','Subsystem2:2','Subsystem2:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimRea"
|
|
|
"l','-0.5522','MaxYLimReal','0.53537','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.5522','LegendVisibilit"
|
|
|
"y','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.6"
|
|
|
"86274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0."
|
|
|
"411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509"
|
|
|
"803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertie"
|
|
|
"sCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),ext"
|
|
|
"mgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',t"
|
|
|
"rue,'Version','2018b')),'Version','2018b','Location',[6 70 1069 423])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_f2"
|
|
|
SID "2199"
|
|
|
Ports [1]
|
|
|
Position [560, 564, 590, 596]
|
|
|
ZOrder -55
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_f2','DataLoggingSaveFormat','Array','Data"
|
|
|
"LoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Serializ"
|
|
|
"edDisplays',{struct('MinYLimReal','-0.55265','MaxYLimReal','0.53655','YLabelReal','','MinYLimMag','0.00000','MaxYL"
|
|
|
"imMag','0.55265','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Axes"
|
|
|
"TickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.07450980"
|
|
|
"39215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039"
|
|
|
"215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title"
|
|
|
"','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsystem"
|
|
|
"4:1','Subsystem4:2','Subsystem4:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimR"
|
|
|
"eal','-0.55265','MaxYLimReal','0.53655','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.55265','LegendVisib"
|
|
|
"ility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922"
|
|
|
" 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;"
|
|
|
"1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.27"
|
|
|
"4509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePrope"
|
|
|
"rtiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1))"
|
|
|
",extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurement"
|
|
|
"s',true,'Version','2018b')),'Version','2018b','Location',[10 493 1071 836])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_p1"
|
|
|
SID "2200"
|
|
|
Ports [1]
|
|
|
Position [270, 439, 300, 471]
|
|
|
ZOrder -56
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_p1','DataLoggingSaveFormat','Array','Data"
|
|
|
"LoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Serializ"
|
|
|
"edDisplays',{struct('MinYLimReal','-0.07464','MaxYLimReal','0.11903','YLabelReal','','MinYLimMag','0.00000','MaxYL"
|
|
|
"imMag','0.11903','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Axes"
|
|
|
"TickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.07450980"
|
|
|
"39215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039"
|
|
|
"215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title"
|
|
|
"','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsystem"
|
|
|
"7:1','Subsystem7:2','Subsystem7:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimR"
|
|
|
"eal','-0.07464','MaxYLimReal','0.11903','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.11903','LegendVisib"
|
|
|
"ility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922"
|
|
|
" 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;"
|
|
|
"1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.27"
|
|
|
"4509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePrope"
|
|
|
"rtiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1))"
|
|
|
",extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurement"
|
|
|
"s',true,'Version','2018b')),'Version','2018b','Location',[6 93 1032 436])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "T_p2"
|
|
|
SID "2201"
|
|
|
Ports [1]
|
|
|
Position [270, 539, 300, 571]
|
|
|
ZOrder -57
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr"
|
|
|
".Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sourc"
|
|
|
"es','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','T_p2','DataLoggingSaveFormat','Array','Data"
|
|
|
"LoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domain',true,'Serializ"
|
|
|
"edDisplays',{struct('MinYLimReal','-0.07261','MaxYLimReal','0.10471','YLabelReal','','MinYLimMag','0.00000','MaxYL"
|
|
|
"imMag','0.10471','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'Axes"
|
|
|
"TickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.07450980"
|
|
|
"39215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039"
|
|
|
"215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title"
|
|
|
"','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{{'Subsystem"
|
|
|
"8:1','Subsystem8:2','Subsystem8:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimR"
|
|
|
"eal','-0.07261','MaxYLimReal','0.10471','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.10471','LegendVisib"
|
|
|
"ility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922"
|
|
|
" 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;"
|
|
|
"1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.27"
|
|
|
"4509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePrope"
|
|
|
"rtiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1))"
|
|
|
",extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurement"
|
|
|
"s',true,'Version','2018b')),'Version','2018b','Location',[13 513 1039 856])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2Para"
|
|
|
SID "2202"
|
|
|
Ports [1, 4]
|
|
|
Position [125, 31, 215, 189]
|
|
|
ZOrder -58
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 125
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('ϵ\\n<><6E>\\n<><6E>\\n<><6E>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "ang2Para"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2203"
|
|
|
Position [-80, 22, -50, 38]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
NamePlacement "alternate"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Display
|
|
|
Name "Display"
|
|
|
SID "2759"
|
|
|
Ports [1]
|
|
|
Position [360, -35, 1100, 25]
|
|
|
ZOrder 1
|
|
|
Decimation "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Display
|
|
|
Name "Display1"
|
|
|
SID "2760"
|
|
|
Ports [1]
|
|
|
Position [360, 52, 1100, 108]
|
|
|
ZOrder 2
|
|
|
Decimation "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Display
|
|
|
Name "Display2"
|
|
|
SID "2761"
|
|
|
Ports [1]
|
|
|
Position [360, 122, 585, 178]
|
|
|
ZOrder 3
|
|
|
Decimation "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Display
|
|
|
Name "Display3"
|
|
|
SID "2762"
|
|
|
Ports [1]
|
|
|
Position [360, 185, 585, 245]
|
|
|
ZOrder 4
|
|
|
Decimation "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2204"
|
|
|
Position [175, 15, 205, 45]
|
|
|
ZOrder -2
|
|
|
Gain "[eye(10);zeros(16,10)]"
|
|
|
Multiplication "Matrix(u*K)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2205"
|
|
|
Position [175, 80, 205, 110]
|
|
|
ZOrder -3
|
|
|
Gain "[zeros(10,10);eye(10);zeros(6,10)]"
|
|
|
Multiplication "Matrix(u*K)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2206"
|
|
|
Position [175, 145, 205, 175]
|
|
|
ZOrder -4
|
|
|
Gain "[zeros(20,3);eye(3);zeros(3,3)]"
|
|
|
Multiplication "Matrix(u*K)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain3"
|
|
|
SID "2207"
|
|
|
Position [175, 215, 205, 245]
|
|
|
ZOrder -5
|
|
|
Gain "[zeros(23,3);eye(3)]"
|
|
|
Multiplication "Matrix(u*K)"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType MATLABFcn
|
|
|
Name "ang2Para"
|
|
|
SID "2208"
|
|
|
Ports [1, 1]
|
|
|
Position [-5, 15, 55, 45]
|
|
|
ZOrder -6
|
|
|
MATLABFcn "ang2Para_new"
|
|
|
OutputDimensions "[3,26]"
|
|
|
Output1D off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Fs1"
|
|
|
SID "2209"
|
|
|
Position [265, 23, 295, 37]
|
|
|
ZOrder -7
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Fs2"
|
|
|
SID "2210"
|
|
|
Position [265, 88, 295, 102]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Ras1"
|
|
|
SID "2211"
|
|
|
Position [265, 153, 295, 167]
|
|
|
ZOrder -9
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Ras2"
|
|
|
SID "2212"
|
|
|
Position [270, 223, 300, 237]
|
|
|
ZOrder -10
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Port "4"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "ang2Para"
|
|
|
SrcPort 1
|
|
|
Points [50, 0]
|
|
|
Branch {
|
|
|
ZOrder 2
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, 65]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 65]
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
Points [0, 70]
|
|
|
DstBlock "Gain3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "ang2Para"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
Points [29, 0]
|
|
|
Branch {
|
|
|
ZOrder 31
|
|
|
Points [0, -15]
|
|
|
DstBlock "Display1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 30
|
|
|
DstBlock "Fs2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
Points [33, 0]
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
Points [0, -21; 59, 0; 0, 11]
|
|
|
DstBlock "Display2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 17
|
|
|
DstBlock "Ras1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Gain3"
|
|
|
SrcPort 1
|
|
|
Points [34, 0]
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, -15]
|
|
|
DstBlock "Display3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
DstBlock "Ras2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
Points [35, 0]
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [0, -35]
|
|
|
DstBlock "Display"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
DstBlock "Fs1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "CTorquer"
|
|
|
SID "2213"
|
|
|
Position [820, 307, 850, 323]
|
|
|
ZOrder -59
|
|
|
ForegroundColor "blue"
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "CTorquer"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Ws"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "ang2Para"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 95]
|
|
|
DstBlock "Goto1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "From4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "From5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "ang2Para"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "ang2Para"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "ang2Para"
|
|
|
SrcPort 3
|
|
|
DstBlock "Goto4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "ang2Para"
|
|
|
SrcPort 4
|
|
|
DstBlock "Goto5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "From8"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "From10"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "From12"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "From13"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "From14"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem4"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "From15"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem4"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "From18"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "From19"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "Subsystem5"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 22
|
|
|
DstBlock "T_cou1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 23
|
|
|
SrcBlock "Subsystem6"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 25
|
|
|
DstBlock "T_cou2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "Subsystem2"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Gain3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 28
|
|
|
DstBlock "T_f1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Subsystem4"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 30
|
|
|
DstBlock "Gain4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 31
|
|
|
DstBlock "T_f2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 32
|
|
|
SrcBlock "From17"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem6"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "From16"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem5"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 34
|
|
|
SrcBlock "From2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 35
|
|
|
SrcBlock "From6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem5"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 36
|
|
|
SrcBlock "From7"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem6"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 37
|
|
|
SrcBlock "From3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 38
|
|
|
SrcBlock "Subsystem"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 39
|
|
|
SrcBlock "Subsystem3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 40
|
|
|
SrcBlock "From9"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 41
|
|
|
SrcBlock "From11"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 42
|
|
|
SrcBlock "From22"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem7"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 43
|
|
|
SrcBlock "From20"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem7"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 44
|
|
|
SrcBlock "From21"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem7"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 45
|
|
|
SrcBlock "From23"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem7"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 46
|
|
|
SrcBlock "From26"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem8"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 47
|
|
|
SrcBlock "From24"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem8"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 48
|
|
|
SrcBlock "From25"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem8"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 49
|
|
|
SrcBlock "From27"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem8"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 50
|
|
|
SrcBlock "Subsystem7"
|
|
|
SrcPort 1
|
|
|
DstBlock "T_p1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 51
|
|
|
SrcBlock "Subsystem8"
|
|
|
SrcPort 1
|
|
|
DstBlock "T_p2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 52
|
|
|
SrcBlock "Subsystem1"
|
|
|
SrcPort 1
|
|
|
Points [10, 0]
|
|
|
Branch {
|
|
|
ZOrder 53
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 54
|
|
|
DstBlock "T_cou3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 55
|
|
|
SrcBlock "Subsystem"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto8"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 56
|
|
|
SrcBlock "Subsystem3"
|
|
|
SrcPort 2
|
|
|
DstBlock "Goto9"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 57
|
|
|
SrcBlock "From28"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 58
|
|
|
SrcBlock "From29"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem4"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 59
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 60
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 61
|
|
|
SrcBlock "Gain3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 62
|
|
|
SrcBlock "Gain4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 5
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2214"
|
|
|
Name "<22><><EFBFBD><EFBFBD>ģ̬<C4A3><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD>"
|
|
|
Position [227, -10, 444, 13]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD>"
|
|
|
FontSize 18
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum2"
|
|
|
SID "2215"
|
|
|
Ports [4, 1]
|
|
|
Position [355, 112, 370, 318]
|
|
|
ZOrder -12
|
|
|
ShowName off
|
|
|
Inputs "-++-"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "ang2Inv(I)"
|
|
|
SID "2216"
|
|
|
Ports [1, 1]
|
|
|
Position [215, 59, 290, 101]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontSize 16
|
|
|
RequestExecContextInheritance off
|
|
|
System {
|
|
|
Name "ang2Inv(I)"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 212
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "ang"
|
|
|
SID "2217"
|
|
|
Position [15, 33, 45, 47]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Inv"
|
|
|
SID "2218"
|
|
|
Ports [1, 1]
|
|
|
Position [195, 24, 235, 56]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 126
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('Inv')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Inv"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In1"
|
|
|
SID "2219"
|
|
|
Position [25, 33, 55, 47]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Identity Matrix"
|
|
|
SID "2220"
|
|
|
Ports [1, 1]
|
|
|
Position [115, 73, 175, 117]
|
|
|
ZOrder -2
|
|
|
LibraryVersion "1.936"
|
|
|
SourceBlock "dspmtrx3/Identity Matrix"
|
|
|
SourceType "Identity Matrix"
|
|
|
SourceProductName "DSP System Toolbox"
|
|
|
SourceProductBaseCode "DS"
|
|
|
MultiThreadCoSim "auto"
|
|
|
Inherit on
|
|
|
N "5"
|
|
|
Ts "1"
|
|
|
additionalParams off
|
|
|
allowOverrides on
|
|
|
dataType "double"
|
|
|
isSigned on
|
|
|
wordLen "16"
|
|
|
udDataType "sfix(16)"
|
|
|
fracBitsMode "Best precision"
|
|
|
numFracBits "15"
|
|
|
OutDataTypeStr "double"
|
|
|
LastOutDataTypeStr "double"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "LU Solver"
|
|
|
SID "2221"
|
|
|
Ports [2, 1]
|
|
|
Position [215, 25, 290, 80]
|
|
|
ZOrder -3
|
|
|
LibraryVersion "1.183"
|
|
|
SourceBlock "dspsolvers/LU Solver"
|
|
|
SourceType "LU Solver"
|
|
|
SourceProductName "DSP System Toolbox"
|
|
|
SourceProductBaseCode "DS"
|
|
|
ContentPreviewEnabled off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out1"
|
|
|
SID "2222"
|
|
|
Position [315, 48, 345, 62]
|
|
|
ZOrder -4
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Identity Matrix"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, -30]
|
|
|
DstBlock "LU Solver"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "In1"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
DstBlock "LU Solver"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
Points [0, 55]
|
|
|
DstBlock "Identity Matrix"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "LU Solver"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType MATLABFcn
|
|
|
Name "MATLAB Fcn"
|
|
|
SID "2223"
|
|
|
Ports [1, 1]
|
|
|
Position [95, 25, 155, 55]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
MATLABFcn "ang2Iall_new"
|
|
|
OutputDimensions "[3,3]"
|
|
|
Output1D off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Inv(I)"
|
|
|
SID "2224"
|
|
|
Position [310, 33, 340, 47]
|
|
|
ZOrder -4
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "MATLAB Fcn"
|
|
|
SrcPort 1
|
|
|
DstBlock "Inv"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "ang"
|
|
|
SrcPort 1
|
|
|
DstBlock "MATLAB Fcn"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Inv"
|
|
|
SrcPort 1
|
|
|
DstBlock "Inv(I)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "w_sat"
|
|
|
SID "2225"
|
|
|
Position [800, 188, 830, 202]
|
|
|
ZOrder -14
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
Labels [2, 0]
|
|
|
SrcBlock "Integrator"
|
|
|
SrcPort 1
|
|
|
Points [0, -5; 33, 0]
|
|
|
Branch {
|
|
|
ZOrder 2
|
|
|
DstBlock "w_sat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 3
|
|
|
Points [0, 173; -655, 0; 0, -88]
|
|
|
Branch {
|
|
|
ZOrder 23
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, -135]
|
|
|
DstBlock "Subsystem3"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Sum2"
|
|
|
SrcPort 1
|
|
|
Points [20, 0]
|
|
|
Branch {
|
|
|
ZOrder 7
|
|
|
DstBlock "Product"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, 50; 55, 0]
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Te"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Product"
|
|
|
SrcPort 1
|
|
|
Points [12, 0]
|
|
|
Branch {
|
|
|
ZOrder 14
|
|
|
Points [138, 0]
|
|
|
DstBlock "Integrator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 15
|
|
|
Points [0, 45]
|
|
|
DstBlock "Goto6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "ang2Inv(I)"
|
|
|
SrcPort 1
|
|
|
Points [115, 0; 0, 70]
|
|
|
DstBlock "Product"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "h"
|
|
|
SrcPort 1
|
|
|
DstBlock "Subsystem2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Tc"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "Subsystem2"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [0, 35]
|
|
|
DstBlock "Scope1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "Subsystem3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "From3"
|
|
|
SrcPort 1
|
|
|
Points [59, 0]
|
|
|
Branch {
|
|
|
ZOrder 26
|
|
|
DstBlock "ang2Inv(I)"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
Points [0, 50]
|
|
|
DstBlock "Subsystem3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 43
|
|
|
SrcBlock "Constant3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Angle Conversion"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 44
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Rotation Angles to\nDirection Cosine Matrix"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 46
|
|
|
SrcBlock "Rotation Angles to\nDirection Cosine Matrix"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 47
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
Points [45, 0]
|
|
|
DstBlock "Product1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 48
|
|
|
SrcBlock "Product1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 53
|
|
|
SrcBlock "Angle Conversion"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 54
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
Points [40, 0]
|
|
|
Branch {
|
|
|
ZOrder 58
|
|
|
Points [0, -315]
|
|
|
DstBlock "Integrator"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 57
|
|
|
DstBlock "Scope2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2226"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><D4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>ѧģ<D1A7><C4A3>"
|
|
|
Position [223, 17, 458, 40]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD>"
|
|
|
FontSize 18
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2227"
|
|
|
Name "<22><><EFBFBD><EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD>̣<EFBFBD>"
|
|
|
Position [145, 395, 267, 420]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -2
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2228"
|
|
|
Name "\\omega_s\\prime=I^-^1(T_e-T_c+T_u_n+\\omega_s\\timesh)"
|
|
|
Position [271, 386, 493, 424]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2412"
|
|
|
Ports [1]
|
|
|
Position [505, 29, 535, 61]
|
|
|
ZOrder 2
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr."
|
|
|
"Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources"
|
|
|
"','WiredSimulink',true,'DataLoggingVariableName','ScopeData2','DataLoggingLimitDataPoints',true,'DataLoggingSaveFor"
|
|
|
"mat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domai"
|
|
|
"n',true,'SerializedDisplays',{struct('MinYLimReal','-0.00704','MaxYLimReal','0.02188','YLabelReal','','MinYLimMag',"
|
|
|
"'0.00000','MaxYLimMag','0.02188','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor"
|
|
|
"',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666"
|
|
|
"667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608"
|
|
|
" 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65098039215"
|
|
|
"6863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{"
|
|
|
"{'kinematics/1:1','kinematics/1:2','kinematics/1:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',"
|
|
|
"struct('MinYLimReal','-0.00704','MaxYLimReal','0.02188','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.0218"
|
|
|
"8','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.6"
|
|
|
"86274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.62352"
|
|
|
"9411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.71764705"
|
|
|
"8823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>'"
|
|
|
",'LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Plac"
|
|
|
"ement',1)),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Me"
|
|
|
"asurements',true,'Version','2018b')),'Version','2018b','Location',[1 66 1601 855])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope1"
|
|
|
SID "2413"
|
|
|
Ports [1]
|
|
|
Position [505, 309, 535, 341]
|
|
|
ZOrder 3
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr."
|
|
|
"Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources"
|
|
|
"','WiredSimulink',true,'DataLoggingVariableName','ScopeData3','DataLoggingLimitDataPoints',true,'DataLoggingSaveFor"
|
|
|
"mat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visuals','Time Domai"
|
|
|
"n',true,'SerializedDisplays',{struct('MinYLimReal','-0.00201','MaxYLimReal','0.00208','YLabelReal','','MinYLimMag',"
|
|
|
"'0.00000','MaxYLimMag','0.00208','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor"
|
|
|
"',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666"
|
|
|
"667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608"
|
|
|
" 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65098039215"
|
|
|
"6863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'LineNames',{"
|
|
|
"{'Dynamic:1','Dynamic:2','Dynamic:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLim"
|
|
|
"Real','-0.00201','MaxYLimReal','0.00208','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.00208','LegendVisib"
|
|
|
"ility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 "
|
|
|
"0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 "
|
|
|
"0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.27450"
|
|
|
"9803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertie"
|
|
|
"sCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extm"
|
|
|
"gr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Tools','Measurements',tru"
|
|
|
"e,'Version','2018b')),'Version','2018b','Location',[188 365 1163 817])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "kinematics"
|
|
|
SID "2229"
|
|
|
Ports [1, 2]
|
|
|
Position [285, 37, 370, 213]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
DropShadow on
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 127
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD>\\n<><6E>\\n<><6E>\\nѧ\\nģ<6E><C4A3>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "kinematics"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "W"
|
|
|
SID "2230"
|
|
|
Position [355, 258, 385, 272]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "red"
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 12
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Add"
|
|
|
SID "2402"
|
|
|
Ports [2, 1]
|
|
|
Position [635, 214, 645, 301]
|
|
|
ZOrder 2
|
|
|
Inputs "+-"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Angle Conversion"
|
|
|
SID "2778"
|
|
|
Ports [1, 1]
|
|
|
Position [480, 445, 530, 465]
|
|
|
ZOrder 22
|
|
|
LibraryVersion "1.140"
|
|
|
SourceBlock "aerolibconvert2/Angle Conversion"
|
|
|
SourceType "Angle Conversion"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
IU "deg"
|
|
|
OU "rad"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2231"
|
|
|
Position [360, 216, 385, 234]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Value "0"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2405"
|
|
|
Position [235, 331, 320, 369]
|
|
|
ZOrder 5
|
|
|
ShowName off
|
|
|
Value "[0,0,-Omega0,0]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant3"
|
|
|
SID "2765"
|
|
|
Position [365, 436, 450, 474]
|
|
|
ZOrder 14
|
|
|
ShowName off
|
|
|
Value "[phi0 theta0 psi0]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2714"
|
|
|
Position [535, 346, 570, 374]
|
|
|
ZOrder 10
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2776"
|
|
|
Position [560, 441, 595, 469]
|
|
|
ZOrder 21
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain8"
|
|
|
SID "2232"
|
|
|
Position [710, 246, 745, 274]
|
|
|
ZOrder -3
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Gain "0.5"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator2"
|
|
|
SID "2233"
|
|
|
Ports [2, 1]
|
|
|
Position [795, 242, 820, 278]
|
|
|
ZOrder -4
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
InitialConditionSource "external"
|
|
|
InitialCondition "qbo"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2234"
|
|
|
Ports [2, 1]
|
|
|
Position [435, 203, 440, 287]
|
|
|
ZOrder -5
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nMultiplication"
|
|
|
SID "2658"
|
|
|
Ports [2, 1]
|
|
|
Position [490, 213, 545, 257]
|
|
|
ZOrder 8
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nMultiplication"
|
|
|
SourceType "Quaternion Multiplication"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nMultiplication1"
|
|
|
SID "2659"
|
|
|
Ports [2, 1]
|
|
|
Position [440, 338, 495, 382]
|
|
|
ZOrder 9
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nMultiplication"
|
|
|
SourceType "Quaternion Multiplication"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nNormalize"
|
|
|
SID "2721"
|
|
|
Ports [1, 1]
|
|
|
Position [875, 238, 930, 282]
|
|
|
ZOrder 13
|
|
|
LibraryVersion "1.149"
|
|
|
SourceBlock "sharedutil/Quaternion\nNormalize"
|
|
|
SourceType "Quaternion Normalize"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
aMode "aMode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternions to Rotation Angles"
|
|
|
SID "2407"
|
|
|
Ports [1, 1]
|
|
|
Position [1035, 184, 1135, 226]
|
|
|
ZOrder 7
|
|
|
AttributesFormatString "Rotation Order: %<rotationOrder>"
|
|
|
LibraryVersion "1.509"
|
|
|
SourceBlock "sharedtransform/Quaternions to Rotation Angles"
|
|
|
SourceType "Quat2Ang"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled off
|
|
|
rotationOrder "ZXY"
|
|
|
aMode "aMode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Rotation Angles to Quaternions"
|
|
|
SID "2767"
|
|
|
Ports [1, 1]
|
|
|
Position [690, 434, 755, 476]
|
|
|
ZOrder 19
|
|
|
AttributesFormatString "Rotation Order: %<rotationOrder>"
|
|
|
LibraryVersion "1.509"
|
|
|
SourceBlock "sharedtransform/Rotation Angles to Quaternions"
|
|
|
SourceType "Ang2Quat"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
rotationOrder "ZXY"
|
|
|
aMode "aMode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2768"
|
|
|
Ports [1]
|
|
|
Position [875, 439, 905, 471]
|
|
|
ZOrder 20
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Dom"
|
|
|
"ain',true,'SerializedDisplays',{struct('MinYLimReal','-0.1251','MaxYLimReal','1.12501','YLabelReal','','MinYLim"
|
|
|
"Mag','0.00000','MaxYLimMag','1.12501','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'"
|
|
|
"AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0."
|
|
|
"0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 "
|
|
|
"0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.074509803"
|
|
|
"9215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'"
|
|
|
"NumLines',4,'LineNames',{{'Rotation Angles to Quaternions:1','Rotation Angles to Quaternions:2','Rotation Angle"
|
|
|
"s to Quaternions:3','Rotation Angles to Quaternions:4'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDef"
|
|
|
"aults',struct('MinYLimReal','-0.1251','MaxYLimReal','1.12501','YLabelReal','','MinYLimMag','0.00000','MaxYLimMa"
|
|
|
"g','1.12501','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesT"
|
|
|
"ickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.6235294117"
|
|
|
"64706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392"
|
|
|
"156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863"
|
|
|
"])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Vers"
|
|
|
"ion','2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2766"
|
|
|
Ports [1, 1]
|
|
|
Position [620, 436, 660, 474]
|
|
|
ZOrder 15
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector1"
|
|
|
SID "2719"
|
|
|
Ports [1, 1]
|
|
|
Position [1205, 186, 1245, 224]
|
|
|
ZOrder 12
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[2 3 1]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Angle"
|
|
|
SID "2246"
|
|
|
Position [1315, 198, 1345, 212]
|
|
|
ZOrder -10
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qbo"
|
|
|
SID "2247"
|
|
|
Position [1035, 253, 1065, 267]
|
|
|
ZOrder -11
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 43
|
|
|
SrcBlock "Quaternion\nMultiplication"
|
|
|
SrcPort 1
|
|
|
DstBlock "Add"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 42
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Quaternion\nMultiplication"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Gain8"
|
|
|
SrcPort 1
|
|
|
Points [30, 0]
|
|
|
DstBlock "Integrator2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "Quaternions to Rotation Angles"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "W"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Add"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain8"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 47
|
|
|
SrcBlock "Quaternion\nMultiplication1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 48
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Quaternion\nMultiplication1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 62
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
Points [15, 0; 0, -80]
|
|
|
DstBlock "Add"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Integrator2"
|
|
|
SrcPort 1
|
|
|
Points [21, 0]
|
|
|
Branch {
|
|
|
ZOrder 41
|
|
|
Points [0, -80; -370, 0; 0, 45]
|
|
|
DstBlock "Quaternion\nMultiplication"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 73
|
|
|
Points [0, 254; -501, 0; 0, -144]
|
|
|
DstBlock "Quaternion\nMultiplication1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 6
|
|
|
DstBlock "Quaternion\nNormalize"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 65
|
|
|
SrcBlock "Selector1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Angle"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 66
|
|
|
SrcBlock "Quaternion\nNormalize"
|
|
|
SrcPort 1
|
|
|
Points [49, 0]
|
|
|
Branch {
|
|
|
ZOrder 64
|
|
|
Points [0, -55]
|
|
|
DstBlock "Quaternions to Rotation Angles"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 27
|
|
|
DstBlock "Qbo"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 71
|
|
|
SrcBlock "Constant3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Angle Conversion"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 75
|
|
|
SrcBlock "Rotation Angles to Quaternions"
|
|
|
SrcPort 1
|
|
|
Points [17, 0]
|
|
|
Branch {
|
|
|
ZOrder 88
|
|
|
Points [0, -185]
|
|
|
DstBlock "Integrator2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 87
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 76
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Rotation Angles to Quaternions"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 79
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 80
|
|
|
SrcBlock "Angle Conversion"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2249"
|
|
|
Name "Qbo"
|
|
|
Position [456, 156, 476, 170]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
ZOrder -2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2398"
|
|
|
Name "<22>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD>̣<EFBFBD>"
|
|
|
Position [434, 586, 556, 611]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 20
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2400"
|
|
|
Name "q\\prime=1/2<><32>qw - w_rq<72><71>"
|
|
|
Position [565, 584, 735, 617]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.000000, 0.501961, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontSize 20
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Angle"
|
|
|
SID "2250"
|
|
|
Position [420, 73, 450, 87]
|
|
|
ZOrder -6
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qbo"
|
|
|
SID "2252"
|
|
|
Position [420, 163, 450, 177]
|
|
|
ZOrder -8
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Wbi"
|
|
|
SID "2251"
|
|
|
Position [420, 223, 450, 237]
|
|
|
ZOrder -7
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "3"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "kinematics"
|
|
|
SrcPort 1
|
|
|
Points [24, 0]
|
|
|
Branch {
|
|
|
ZOrder 10
|
|
|
Points [0, -35]
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Angle"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "kinematics"
|
|
|
SrcPort 2
|
|
|
DstBlock "Qbo"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Dynamic"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "kinematics"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 105; 147, 0]
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
Points [0, 95]
|
|
|
DstBlock "Scope1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 11
|
|
|
DstBlock "Wbi"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Te"
|
|
|
SrcPort 1
|
|
|
DstBlock "Dynamic"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Tc"
|
|
|
SrcPort 1
|
|
|
DstBlock "Dynamic"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "h"
|
|
|
SrcPort 1
|
|
|
DstBlock "Dynamic"
|
|
|
DstPort 3
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Solar panel1"
|
|
|
SID "2253"
|
|
|
Ports []
|
|
|
Position [535, 90, 687, 130]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[1.000000, 0.000000, 0.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 128
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "<22><><EFBFBD>幤<EFBFBD><E5B9A4>ѡ<EFBFBD><D1A1>"
|
|
|
Description "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3><EFBFBD>ø<EFBFBD>ģʽ<C4A3><CABD><EFBFBD>飩"
|
|
|
Initialization "solarpanel_mode=1;"
|
|
|
Display "disp('ѡ<>幤<F1B7ABB0><E5B9A4>')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 2
|
|
|
Object {
|
|
|
$ObjectID 129
|
|
|
Type "popup"
|
|
|
Array {
|
|
|
Type "Cell"
|
|
|
Dimension 5
|
|
|
Cell "1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
Cell "2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
Cell "3<><33><EFBFBD><EFBFBD><EFBFBD>ٲ<EFBFBD><D9B2><EFBFBD>ģʽ"
|
|
|
Cell "4<><34><EFBFBD><EFBFBD>+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
|
|
|
Cell "5<><35><EFBFBD><EFBFBD>-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
|
|
|
PropName "TypeOptions"
|
|
|
}
|
|
|
Name "work_mode"
|
|
|
Prompt "<22><><EFBFBD>幤<EFBFBD><E5B9A4>"
|
|
|
Value "1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 130
|
|
|
Type "checkbox"
|
|
|
Name "maneuverYN"
|
|
|
Prompt "ȫ<><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD>ڳ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>棬<EFBFBD><E6A3AC><EFBFBD>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>"
|
|
|
Value "on"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "Solar panel1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2254"
|
|
|
Position [200, 54, 290, 76]
|
|
|
ZOrder -1
|
|
|
ShowName off
|
|
|
Value "work_mode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "2255"
|
|
|
Position [380, 305, 410, 335]
|
|
|
ZOrder -2
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2256"
|
|
|
Position [370, 200, 400, 230]
|
|
|
ZOrder -3
|
|
|
Gain "pi/180"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto"
|
|
|
SID "2257"
|
|
|
Position [390, 70, 430, 100]
|
|
|
ZOrder -4
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Goto
|
|
|
Name "Goto6"
|
|
|
SID "2258"
|
|
|
Position [455, 205, 505, 225]
|
|
|
ZOrder -5
|
|
|
ForegroundColor "[0.000000, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.937255, 0.537255, 0.878431]"
|
|
|
ShowName off
|
|
|
GotoTag "SpAng"
|
|
|
TagVisibility "global"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType MultiPortSwitch
|
|
|
Name "Multiport\nSwitch"
|
|
|
SID "2259"
|
|
|
Ports [6, 1]
|
|
|
Position [325, 34, 340, 396]
|
|
|
ZOrder -6
|
|
|
Inputs "5"
|
|
|
InputSameDT off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "mode1"
|
|
|
SID "2260"
|
|
|
Ports [0, 1]
|
|
|
Position [160, 102, 295, 148]
|
|
|
ZOrder -7
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 131
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
Description "<22>趨<EFBFBD><E8B6A8><EFBFBD>鷫<EFBFBD><E9B7AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 2
|
|
|
Object {
|
|
|
$ObjectID 132
|
|
|
Type "edit"
|
|
|
Name "positive_Y"
|
|
|
Prompt "+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 133
|
|
|
Type "edit"
|
|
|
Name "minus_Y"
|
|
|
Prompt "-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "mode1"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2261"
|
|
|
Position [65, 70, 120, 100]
|
|
|
ZOrder -1
|
|
|
Value "positive_Y"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2262"
|
|
|
Position [65, 125, 120, 155]
|
|
|
ZOrder -2
|
|
|
Value "minus_Y"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2263"
|
|
|
Ports [2, 1]
|
|
|
Position [280, 56, 285, 169]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out1"
|
|
|
SID "2264"
|
|
|
Position [310, 108, 340, 122]
|
|
|
ZOrder -4
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2265"
|
|
|
Name "-Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [170, 117, 220, 137]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -1
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2266"
|
|
|
Name "+Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [168, 57, 222, 77]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -2
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2267"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>鷫<EFBFBD><E9B7AB><EFBFBD><EFBFBD>̬<EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ȣ<EFBFBD>"
|
|
|
Position [46, 220, 363, 238]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "mode2"
|
|
|
SID "2268"
|
|
|
Ports [0, 1]
|
|
|
Position [160, 279, 295, 331]
|
|
|
ZOrder -8
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 134
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
Description "+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>\n-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>"
|
|
|
Display "disp('<27><>+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 6
|
|
|
Object {
|
|
|
$ObjectID 135
|
|
|
Type "edit"
|
|
|
Name "w_a1"
|
|
|
Prompt "<22><>̬<EFBFBD><CCAC><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD>/<2F>룩"
|
|
|
Value "0.0549"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 136
|
|
|
Type "edit"
|
|
|
Name "att_ini"
|
|
|
Prompt "<22><>ʼ<EFBFBD><CABC>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 137
|
|
|
Type "edit"
|
|
|
Name "t_begin"
|
|
|
Prompt "<22><>ʼת<CABC><D7AA>ʱ<EFBFBD>̣<EFBFBD><CCA3>룩"
|
|
|
Value "5"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 138
|
|
|
Type "edit"
|
|
|
Name "t_s"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ʱ<EFBFBD>䣨<EFBFBD>룩"
|
|
|
Value "3"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 139
|
|
|
Type "edit"
|
|
|
Name "t_work"
|
|
|
Prompt "<22><>̬ʱ<CCAC>䣨<EFBFBD>룩"
|
|
|
Value "40+maneuverYN*2000"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 140
|
|
|
Type "edit"
|
|
|
Name "minus_Y"
|
|
|
Prompt "-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "mode2"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2269"
|
|
|
Position [260, 140, 315, 170]
|
|
|
ZOrder -1
|
|
|
Value "minus_Y"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator"
|
|
|
SID "2270"
|
|
|
Ports [1, 1]
|
|
|
Position [270, 105, 300, 135]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
InitialCondition "att_ini"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2271"
|
|
|
Ports [2, 1]
|
|
|
Position [405, 102, 410, 173]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp"
|
|
|
SID "2272"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 35, 55, 65]
|
|
|
ZOrder -4
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp1"
|
|
|
SID "2273"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 80, 55, 110]
|
|
|
ZOrder -5
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp2"
|
|
|
SID "2274"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 125, 55, 155]
|
|
|
ZOrder -6
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp3"
|
|
|
SID "2275"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 170, 55, 200]
|
|
|
ZOrder -7
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2276"
|
|
|
Ports [4, 1]
|
|
|
Position [140, 25, 150, 210]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Inputs "++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out1"
|
|
|
SID "2277"
|
|
|
Position [445, 133, 475, 147]
|
|
|
ZOrder -9
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Ramp3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Ramp2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Ramp1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Ramp"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Integrator"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2278"
|
|
|
Name "ͣת"
|
|
|
Position [86, 155, 118, 173]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2279"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 110, 118, 128]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2280"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 65, 118, 83]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2281"
|
|
|
Name " <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>幤<EFBFBD><E5B9A4>ģʽ<C4A3><CABD>̬<EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ȣ<EFBFBD>"
|
|
|
Position [186, 210, 466, 228]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -4
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2282"
|
|
|
Name "<22><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ͣת<CDA3><D7AA><EFBFBD>̽<EFBFBD><CCBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ֵýǶ<C3BD>"
|
|
|
Position [186, 250, 503, 268]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -5
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2283"
|
|
|
Name "-Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [325, 127, 375, 147]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -6
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2284"
|
|
|
Name "+Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [323, 97, 377, 117]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -7
|
|
|
FontSize 16
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "mode3"
|
|
|
SID "2285"
|
|
|
Ports [0, 1]
|
|
|
Position [160, 160, 295, 210]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 141
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
Description "<22><><EFBFBD>鷫<EFBFBD><E9B7AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 5
|
|
|
Object {
|
|
|
$ObjectID 142
|
|
|
Type "edit"
|
|
|
Name "w_a1"
|
|
|
Prompt "<22><>̬<EFBFBD><CCAC><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD>/<2F>룩"
|
|
|
Value "0.0607"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 143
|
|
|
Type "edit"
|
|
|
Name "att_ini"
|
|
|
Prompt "<22><>ʼ<EFBFBD><CABC>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 144
|
|
|
Type "edit"
|
|
|
Name "t_begin"
|
|
|
Prompt "<22><>ʼת<CABC><D7AA>ʱ<EFBFBD>̣<EFBFBD><CCA3>룩"
|
|
|
Value "500"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 145
|
|
|
Type "edit"
|
|
|
Name "t_s"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ʱ<EFBFBD>䣨<EFBFBD>룩"
|
|
|
Value "3"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 146
|
|
|
Type "edit"
|
|
|
Name "t_work"
|
|
|
Prompt "<22><>̬ʱ<CCAC>䣨<EFBFBD>룩"
|
|
|
Value "6000"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "mode3"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator"
|
|
|
SID "2286"
|
|
|
Ports [1, 1]
|
|
|
Position [320, 215, 350, 245]
|
|
|
ZOrder -1
|
|
|
ShowName off
|
|
|
InitialCondition "att_ini"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2287"
|
|
|
Ports [2, 1]
|
|
|
Position [280, 192, 285, 263]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp"
|
|
|
SID "2288"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 35, 55, 65]
|
|
|
ZOrder -3
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp1"
|
|
|
SID "2289"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 80, 55, 110]
|
|
|
ZOrder -4
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp2"
|
|
|
SID "2290"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 125, 55, 155]
|
|
|
ZOrder -5
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp3"
|
|
|
SID "2291"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 170, 55, 200]
|
|
|
ZOrder -6
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp4"
|
|
|
SID "2292"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 245, 55, 275]
|
|
|
ZOrder -7
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp5"
|
|
|
SID "2293"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 290, 55, 320]
|
|
|
ZOrder -8
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp6"
|
|
|
SID "2294"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 335, 55, 365]
|
|
|
ZOrder -9
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp7"
|
|
|
SID "2295"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 380, 55, 410]
|
|
|
ZOrder -10
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2296"
|
|
|
Ports [4, 1]
|
|
|
Position [140, 25, 150, 210]
|
|
|
ZOrder -11
|
|
|
ShowName off
|
|
|
Inputs "++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2297"
|
|
|
Ports [4, 1]
|
|
|
Position [140, 235, 150, 420]
|
|
|
ZOrder -12
|
|
|
ShowName off
|
|
|
Inputs "++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out1"
|
|
|
SID "2298"
|
|
|
Position [380, 223, 410, 237]
|
|
|
ZOrder -13
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
Points [30, 0; 0, 90]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Ramp"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Ramp1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Ramp2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Ramp3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Integrator"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Ramp4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Ramp5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Ramp6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Ramp7"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [30, 0; 0, -85]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2299"
|
|
|
Name "+Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [198, 182, 252, 202]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -1
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2300"
|
|
|
Name "-Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [195, 257, 245, 277]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -2
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2301"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 65, 118, 83]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2302"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 110, 118, 128]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -4
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2303"
|
|
|
Name "ͣת"
|
|
|
Position [86, 155, 118, 173]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -5
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2304"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 275, 118, 293]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -6
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2305"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 320, 118, 338]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -7
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2306"
|
|
|
Name "ͣת"
|
|
|
Position [86, 365, 118, 383]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -8
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2307"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>鷫<EFBFBD><E9B7AB><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ȣ<EFBFBD>"
|
|
|
Position [216, 330, 593, 348]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -9
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2308"
|
|
|
Name "<22><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ͣת<CDA3><D7AA><EFBFBD>̽<EFBFBD><CCBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ֵýǶ<C3BD>"
|
|
|
Position [216, 370, 533, 388]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -10
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2739"
|
|
|
Name "+Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [163, 172, 217, 192]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder 1
|
|
|
FontSize 16
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "mode4"
|
|
|
SID "2309"
|
|
|
Ports [0, 1]
|
|
|
Position [160, 221, 295, 269]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 147
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "<22><><EFBFBD>ٲ<EFBFBD><D9B2><EFBFBD>ģʽ"
|
|
|
Description "<22><><EFBFBD>鷫<EFBFBD><E9B7AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>"
|
|
|
Display "disp('<27><><EFBFBD>ٲ<EFBFBD><D9B2><EFBFBD>ģʽ')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 5
|
|
|
Object {
|
|
|
$ObjectID 148
|
|
|
Type "edit"
|
|
|
Name "w_a1"
|
|
|
Prompt "<22><>̬<EFBFBD><CCAC><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD>/<2F>룩"
|
|
|
Value "0.6"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 149
|
|
|
Type "edit"
|
|
|
Name "att_ini"
|
|
|
Prompt "<22><>ʼ<EFBFBD><CABC>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 150
|
|
|
Type "edit"
|
|
|
Name "t_begin"
|
|
|
Prompt "<22><>ʼת<CABC><D7AA>ʱ<EFBFBD>̣<EFBFBD><CCA3>룩"
|
|
|
Value "5"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 151
|
|
|
Type "edit"
|
|
|
Name "t_s"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ʱ<EFBFBD>䣨<EFBFBD>룩"
|
|
|
Value "3"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 152
|
|
|
Type "edit"
|
|
|
Name "t_work"
|
|
|
Prompt "<22><>̬ʱ<CCAC>䣨<EFBFBD>룩"
|
|
|
Value "40+maneuverYN*2000"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "mode4"
|
|
|
Location [-4, 0, 1604, 844]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator"
|
|
|
SID "2310"
|
|
|
Ports [1, 1]
|
|
|
Position [320, 215, 350, 245]
|
|
|
ZOrder -1
|
|
|
ShowName off
|
|
|
InitialCondition "att_ini"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2311"
|
|
|
Ports [2, 1]
|
|
|
Position [280, 192, 285, 263]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp"
|
|
|
SID "2312"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 35, 55, 65]
|
|
|
ZOrder -3
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp1"
|
|
|
SID "2313"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 80, 55, 110]
|
|
|
ZOrder -4
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp2"
|
|
|
SID "2314"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 125, 55, 155]
|
|
|
ZOrder -5
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp3"
|
|
|
SID "2315"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 170, 55, 200]
|
|
|
ZOrder -6
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp4"
|
|
|
SID "2316"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 245, 55, 275]
|
|
|
ZOrder -7
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp5"
|
|
|
SID "2317"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 290, 55, 320]
|
|
|
ZOrder -8
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp6"
|
|
|
SID "2318"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 335, 55, 365]
|
|
|
ZOrder -9
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp7"
|
|
|
SID "2319"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 380, 55, 410]
|
|
|
ZOrder -10
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2320"
|
|
|
Ports [4, 1]
|
|
|
Position [140, 25, 150, 210]
|
|
|
ZOrder -11
|
|
|
ShowName off
|
|
|
Inputs "++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum1"
|
|
|
SID "2321"
|
|
|
Ports [4, 1]
|
|
|
Position [140, 235, 150, 420]
|
|
|
ZOrder -12
|
|
|
ShowName off
|
|
|
Inputs "++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out1"
|
|
|
SID "2322"
|
|
|
Position [380, 223, 410, 237]
|
|
|
ZOrder -13
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum1"
|
|
|
SrcPort 1
|
|
|
Points [30, 0; 0, -85]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Ramp7"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Ramp6"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Ramp5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Ramp4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Integrator"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Ramp3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 9
|
|
|
SrcBlock "Ramp2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "Ramp1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "Ramp"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
Points [30, 0; 0, 90]
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2323"
|
|
|
Name "ͣת"
|
|
|
Position [86, 365, 118, 383]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2324"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 320, 118, 338]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2325"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 275, 118, 293]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2326"
|
|
|
Name "ͣת"
|
|
|
Position [86, 155, 118, 173]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -4
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2327"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 110, 118, 128]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -5
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2328"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 65, 118, 83]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -6
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2329"
|
|
|
Name "-Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [195, 257, 245, 277]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -7
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2330"
|
|
|
Name "+Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [198, 182, 252, 202]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -8
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2331"
|
|
|
Name "<22><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ͣת<CDA3><D7AA><EFBFBD>̽<EFBFBD><CCBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ֵýǶ<C3BD>"
|
|
|
Position [216, 385, 533, 403]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -9
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2332"
|
|
|
Name "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٲ<EFBFBD><D9B2><EFBFBD>ģʽ<C4A3>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>鷫<EFBFBD><E9B7AB><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ȣ<EFBFBD>"
|
|
|
Position [216, 345, 593, 363]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -10
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "mode5"
|
|
|
SID "2333"
|
|
|
Ports [0, 1]
|
|
|
Position [160, 339, 295, 391]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "[0.000000, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD><EFBFBD>_GB2312"
|
|
|
FontSize 18
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 153
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Type "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ"
|
|
|
Description "-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>\n+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>"
|
|
|
Display "disp('<27><>-Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
Array {
|
|
|
Type "Simulink.MaskParameter"
|
|
|
Dimension 6
|
|
|
Object {
|
|
|
$ObjectID 154
|
|
|
Type "edit"
|
|
|
Name "w_a1"
|
|
|
Prompt "<22><>̬<EFBFBD><CCAC><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD>/<2F>룩"
|
|
|
Value "0.0549"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 155
|
|
|
Type "edit"
|
|
|
Name "att_ini"
|
|
|
Prompt "<22><>ʼ<EFBFBD><CABC>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 156
|
|
|
Type "edit"
|
|
|
Name "t_begin"
|
|
|
Prompt "<22><>ʼת<CABC><D7AA>ʱ<EFBFBD>̣<EFBFBD><CCA3>룩"
|
|
|
Value "5"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 157
|
|
|
Type "edit"
|
|
|
Name "t_s"
|
|
|
Prompt "<22><><EFBFBD><EFBFBD>ʱ<EFBFBD>䣨<EFBFBD>룩"
|
|
|
Value "3"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 158
|
|
|
Type "edit"
|
|
|
Name "t_work"
|
|
|
Prompt "<22><>̬ʱ<CCAC>䣨<EFBFBD>룩"
|
|
|
Value "40"
|
|
|
}
|
|
|
Object {
|
|
|
$ObjectID 159
|
|
|
Type "edit"
|
|
|
Name "positive_Y"
|
|
|
Prompt "+Y<><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD>ǣ<EFBFBD><C7A3>ȣ<EFBFBD>"
|
|
|
Value "0"
|
|
|
}
|
|
|
PropName "Parameters"
|
|
|
}
|
|
|
}
|
|
|
System {
|
|
|
Name "mode5"
|
|
|
Location [146, 52, 889, 572]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2334"
|
|
|
Position [260, 70, 315, 100]
|
|
|
ZOrder -1
|
|
|
Value "positive_Y"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Integrator
|
|
|
Name "Integrator"
|
|
|
SID "2335"
|
|
|
Ports [1, 1]
|
|
|
Position [210, 105, 240, 135]
|
|
|
ZOrder -2
|
|
|
ShowName off
|
|
|
InitialCondition "att_ini"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2336"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 67, 400, 138]
|
|
|
ZOrder -3
|
|
|
ShowName off
|
|
|
Inputs "2"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp"
|
|
|
SID "2337"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 35, 55, 65]
|
|
|
ZOrder -4
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp1"
|
|
|
SID "2338"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 80, 55, 110]
|
|
|
ZOrder -5
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp2"
|
|
|
SID "2339"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 125, 55, 155]
|
|
|
ZOrder -6
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "-w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Ramp3"
|
|
|
SID "2340"
|
|
|
Ports [0, 1]
|
|
|
Position [25, 170, 55, 200]
|
|
|
ZOrder -7
|
|
|
LibraryVersion "1.444"
|
|
|
SourceBlock "simulink/Sources/Ramp"
|
|
|
SourceType "Ramp"
|
|
|
SourceProductName "Simulink"
|
|
|
SourceProductBaseCode "SL"
|
|
|
ContentPreviewEnabled off
|
|
|
slope "w_a1/t_s"
|
|
|
start "t_begin+t_s+t_work+t_s"
|
|
|
InitialOutput "0"
|
|
|
VectorParams1D on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Sum"
|
|
|
SID "2341"
|
|
|
Ports [4, 1]
|
|
|
Position [140, 25, 150, 210]
|
|
|
ZOrder -8
|
|
|
ShowName off
|
|
|
Inputs "++++"
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Out1"
|
|
|
SID "2342"
|
|
|
Position [435, 98, 465, 112]
|
|
|
ZOrder -9
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Sum"
|
|
|
SrcPort 1
|
|
|
DstBlock "Integrator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Ramp"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Ramp1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Ramp2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Ramp3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Sum"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Out1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 8
|
|
|
SrcBlock "Integrator"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2343"
|
|
|
Name "+Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [328, 62, 382, 82]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -1
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2344"
|
|
|
Name "-Y<><59><EFBFBD><EFBFBD>"
|
|
|
Position [330, 97, 380, 117]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -2
|
|
|
FontSize 16
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2345"
|
|
|
Name "<22><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ͣת<CDA3><D7AA><EFBFBD>̽<EFBFBD><CCBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ֵýǶ<C3BD>"
|
|
|
Position [186, 250, 503, 268]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2346"
|
|
|
Name " <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>幤<EFBFBD><E5B9A4>ģʽ<C4A3><CABD>̬<EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ȣ<EFBFBD>"
|
|
|
Position [186, 210, 466, 228]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -4
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2347"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 65, 118, 83]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -5
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2348"
|
|
|
Name "<22><><EFBFBD><EFBFBD>"
|
|
|
Position [86, 110, 118, 128]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -6
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2349"
|
|
|
Name "ͣת"
|
|
|
Position [86, 155, 118, 173]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
ForegroundColor "[0.501961, 0.000000, 0.000000]"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -7
|
|
|
FontName "<22><><EFBFBD><EFBFBD>"
|
|
|
FontSize 15
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "w_sp"
|
|
|
SID "2350"
|
|
|
Ports [1]
|
|
|
Position [435, 304, 465, 336]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "C++SS(StrPVP('Location','[134, 232, 904, 723]'),StrPVP('Open','off'),StrPVP('ZoomMode','y"
|
|
|
"only'),MxPVP('AxesTitles',53,'struct(''axes1'',''%<SignalLabel>'')'),StrPVP('ShowLegends','off'),StrPVP('YMin','-0."
|
|
|
"0006'),StrPVP('YMax','0.0013'),StrPVP('SaveToWorkspace','on'),StrPVP('SaveName','w_sp'),StrPVP('LimitDataPoints','o"
|
|
|
"ff'),StrPVP('Decimation','20'),StrPVP('BlockParamSampleTime','0'),StrPVP('ScrollMode','off'),StrPVP('DataFormat','A"
|
|
|
"rray'),StrPVP('BlockParamSampleInput','off'))"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "Goto6"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "mode4"
|
|
|
SrcPort 1
|
|
|
DstBlock "Multiport\nSwitch"
|
|
|
DstPort 4
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Multiport\nSwitch"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 4
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 5
|
|
|
Points [0, 105]
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "mode1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Multiport\nSwitch"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
Points [5, 0]
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
DstBlock "Multiport\nSwitch"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
Points [0, 20]
|
|
|
DstBlock "Goto"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 10
|
|
|
SrcBlock "mode2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Multiport\nSwitch"
|
|
|
DstPort 5
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 11
|
|
|
SrcBlock "mode3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Multiport\nSwitch"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
DstBlock "w_sp"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "mode5"
|
|
|
SrcPort 1
|
|
|
DstBlock "Multiport\nSwitch"
|
|
|
DstPort 6
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem3"
|
|
|
SID "2351"
|
|
|
Ports [0, 2]
|
|
|
Position [105, 259, 200, 301]
|
|
|
ZOrder -9
|
|
|
ForegroundColor "[0.250980, 0.000000, 0.501961]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
FontName "<22><><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 160
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem3"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "125"
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Angle Conversion"
|
|
|
SID "2414"
|
|
|
Ports [1, 1]
|
|
|
Position [140, -16, 180, -4]
|
|
|
ZOrder 4
|
|
|
LibraryVersion "1.140"
|
|
|
SourceBlock "aerolibconvert2/Angle Conversion"
|
|
|
SourceType "Angle Conversion"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled off
|
|
|
IU "deg"
|
|
|
OU "rad"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant1"
|
|
|
SID "2396"
|
|
|
Position [5, -64, 35, -46]
|
|
|
ZOrder 1
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "cphi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant2"
|
|
|
SID "2397"
|
|
|
Position [5, -19, 35, -1]
|
|
|
ZOrder 2
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "ctheta"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant3"
|
|
|
SID "2352"
|
|
|
Position [5, 26, 35, 44]
|
|
|
ZOrder -1
|
|
|
ForegroundColor "[0.501961, 0.000000, 1.000000]"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
Value "cpsi"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Mux
|
|
|
Name "Mux"
|
|
|
SID "2355"
|
|
|
Ports [3, 1]
|
|
|
Position [95, -79, 100, 59]
|
|
|
ZOrder -4
|
|
|
ShowName off
|
|
|
Inputs "3"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Rotation Angles to Quaternions"
|
|
|
SID "2408"
|
|
|
Ports [1, 1]
|
|
|
Position [300, -35, 360, 15]
|
|
|
ZOrder 3
|
|
|
AttributesFormatString "Rotation Order: %<rotationOrder>"
|
|
|
LibraryVersion "1.509"
|
|
|
SourceBlock "sharedtransform/Rotation Angles to Quaternions"
|
|
|
SourceType "Ang2Quat"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled off
|
|
|
rotationOrder "ZXY"
|
|
|
aMode "aMode"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope"
|
|
|
SID "2779"
|
|
|
Ports [1]
|
|
|
Position [500, -181, 530, -149]
|
|
|
ZOrder 60
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr."
|
|
|
"Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources"
|
|
|
"','WiredSimulink',true,'DataLoggingVariableName','ScopeData3'),extmgr.Configuration('Visuals','Time Domain',true,'S"
|
|
|
"erializedDisplays',{struct('MinYLimReal','-0.125','MaxYLimReal','1.125','YLabelReal','','MinYLimMag','0.00000','Max"
|
|
|
"YLimMag','1.125','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesT"
|
|
|
"ickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039"
|
|
|
"215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215"
|
|
|
"686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%"
|
|
|
"<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',4,'LineNames',{{'Rotation Angle"
|
|
|
"s to Quaternions:1','Rotation Angles to Quaternions:2','Rotation Angles to Quaternions:3','Rotation Angles to Quate"
|
|
|
"rnions:4'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.125','MaxYLimReal"
|
|
|
"','1.125','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.125','LegendVisibility','off','XGrid',true,'YGrid'"
|
|
|
",true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.6862745098039"
|
|
|
"22],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.066666666666666"
|
|
|
"7;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1"
|
|
|
" 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configurat"
|
|
|
"ion('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Position',[1 45 1600 789])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Selector
|
|
|
Name "Selector"
|
|
|
SID "2717"
|
|
|
Ports [1, 1]
|
|
|
Position [220, -29, 260, 9]
|
|
|
ZOrder 59
|
|
|
InputPortWidth "3"
|
|
|
IndexOptions "Index vector (dialog)"
|
|
|
Indices "[3 1 2]"
|
|
|
OutputSizes "1"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem"
|
|
|
SID "2683"
|
|
|
Ports [1, 1]
|
|
|
Position [455, 81, 530, 129]
|
|
|
ZOrder 37
|
|
|
RequestExecContextInheritance off
|
|
|
ContentPreviewEnabled on
|
|
|
System {
|
|
|
Name "Subsystem"
|
|
|
Location [-4, -4, 1604, 860]
|
|
|
Open on
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "usletter"
|
|
|
PaperUnits "inches"
|
|
|
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "150"
|
|
|
Block {
|
|
|
BlockType Inport
|
|
|
Name "In1"
|
|
|
SID "2684"
|
|
|
Position [-255, 88, -225, 102]
|
|
|
ZOrder -1
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Sum
|
|
|
Name "Add"
|
|
|
SID "2673"
|
|
|
Ports [2, 1]
|
|
|
Position [395, 97, 425, 128]
|
|
|
ZOrder 51
|
|
|
InputSameDT off
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Constant
|
|
|
Name "Constant"
|
|
|
SID "2651"
|
|
|
Position [-255, 257, -130, 283]
|
|
|
ZOrder 43
|
|
|
Value "[0 0 -Omega0 0]"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Demux
|
|
|
Name "Demux"
|
|
|
SID "2648"
|
|
|
Ports [1, 2]
|
|
|
Position [465, 96, 470, 134]
|
|
|
ZOrder 41
|
|
|
ShowName off
|
|
|
Outputs "[1 3]"
|
|
|
DisplayOption "bar"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Derivative
|
|
|
Name "Derivative"
|
|
|
SID "2679"
|
|
|
Position [-25, 155, 5, 185]
|
|
|
ZOrder 53
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain"
|
|
|
SID "2640"
|
|
|
Position [285, 90, 315, 120]
|
|
|
ZOrder 37
|
|
|
Gain "2"
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain1"
|
|
|
SID "2674"
|
|
|
Position [505, 110, 535, 140]
|
|
|
ZOrder 52
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Gain
|
|
|
Name "Gain2"
|
|
|
SID "2715"
|
|
|
Position [-65, 255, -35, 285]
|
|
|
ZOrder 56
|
|
|
Gain "0"
|
|
|
ParamDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
OutDataTypeStr "Inherit: Inherit via internal rule"
|
|
|
SaturateOnIntegerOverflow off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nConjugate"
|
|
|
SID "2642"
|
|
|
Ports [1, 1]
|
|
|
Position [-35, 73, 20, 117]
|
|
|
ZOrder 38
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nConjugate"
|
|
|
SourceType "Quaternion Conjugate"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nConjugate1"
|
|
|
SID "2665"
|
|
|
Ports [1, 1]
|
|
|
Position [-30, 208, 25, 252]
|
|
|
ZOrder 45
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nConjugate"
|
|
|
SourceType "Quaternion Conjugate"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nMultiplication"
|
|
|
SID "2643"
|
|
|
Ports [2, 1]
|
|
|
Position [90, 83, 145, 127]
|
|
|
ZOrder 39
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nMultiplication"
|
|
|
SourceType "Quaternion Multiplication"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nMultiplication1"
|
|
|
SID "2652"
|
|
|
Ports [2, 1]
|
|
|
Position [95, 218, 150, 262]
|
|
|
ZOrder 44
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nMultiplication"
|
|
|
SourceType "Quaternion Multiplication"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Reference
|
|
|
Name "Quaternion\nMultiplication2"
|
|
|
SID "2666"
|
|
|
Ports [2, 1]
|
|
|
Position [205, 268, 260, 312]
|
|
|
ZOrder 46
|
|
|
LibraryVersion "1.112"
|
|
|
SourceBlock "aerolibutil/Quaternion\nMultiplication"
|
|
|
SourceType "Quaternion Multiplication"
|
|
|
SourceProductName "Aerospace Blockset"
|
|
|
SourceProductBaseCode "AE"
|
|
|
ContentPreviewEnabled on
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope1"
|
|
|
SID "2667"
|
|
|
Ports [1]
|
|
|
Position [525, 174, 555, 206]
|
|
|
ZOrder 47
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1','DataLoggingLimitDataPoints',true,'DataLo"
|
|
|
"ggingSaveFormat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visu"
|
|
|
"als','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelRe"
|
|
|
"al','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMa"
|
|
|
"gPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'Colo"
|
|
|
"rOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.3"
|
|
|
"92156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 "
|
|
|
"1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChann"
|
|
|
"elNames',{{}},'NumLines',3,'LineNames',{{'Demux/2:1','Demux/2:2','Demux/2:3'}},'ShowContent',true,'Placement',1"
|
|
|
")},'DisplayPropertyDefaults',struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMa"
|
|
|
"g','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'Ax"
|
|
|
"esColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06"
|
|
|
"66666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0."
|
|
|
"831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980392"
|
|
|
"15686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'Nu"
|
|
|
"mLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',"
|
|
|
"true),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[10 60 "
|
|
|
"1610 843])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope2"
|
|
|
SID "2668"
|
|
|
Ports [1]
|
|
|
Position [425, 184, 455, 216]
|
|
|
ZOrder 48
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData2','DataLoggingLimitDataPoints',true,'DataLo"
|
|
|
"ggingSaveFormat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visu"
|
|
|
"als','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-0.00108','MaxYLimReal','0.00012','YLabelRe"
|
|
|
"al','','MinYLimMag','0.00000','MaxYLimMag','0.00108','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMa"
|
|
|
"gPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'Colo"
|
|
|
"rOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.3"
|
|
|
"92156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 "
|
|
|
"1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChann"
|
|
|
"elNames',{{}},'NumLines',4,'LineNames',{{'Quaternion Multiplication2:1','Quaternion Multiplication2:2','Quatern"
|
|
|
"ion Multiplication2:3','Quaternion Multiplication2:4'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefa"
|
|
|
"ults',struct('MinYLimReal','-0.00108','MaxYLimReal','0.00012','YLabelReal','','MinYLimMag','0.00000','MaxYLimMa"
|
|
|
"g','0.00108','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesT"
|
|
|
"ickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.074509"
|
|
|
"8039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450"
|
|
|
"98039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863"
|
|
|
"],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{"
|
|
|
"{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configurat"
|
|
|
"ion('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[1 66 1601 855])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope3"
|
|
|
SID "2669"
|
|
|
Ports [1]
|
|
|
Position [395, 14, 425, 46]
|
|
|
ZOrder 49
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData3','DataLoggingLimitDataPoints',true,'DataLo"
|
|
|
"ggingSaveFormat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visu"
|
|
|
"als','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelRe"
|
|
|
"al','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMa"
|
|
|
"gPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'Colo"
|
|
|
"rOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.3"
|
|
|
"92156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 "
|
|
|
"1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChann"
|
|
|
"elNames',{{}},'NumLines',4,'LineNames',{{'Gain:1','Gain:2','Gain:3','Gain:4'}},'ShowContent',true,'Placement',1"
|
|
|
")},'DisplayPropertyDefaults',struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMa"
|
|
|
"g','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'Ax"
|
|
|
"esColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06"
|
|
|
"66666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0."
|
|
|
"831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.07450980392"
|
|
|
"15686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'Nu"
|
|
|
"mLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',"
|
|
|
"true),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[10 60 "
|
|
|
"1610 843])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope4"
|
|
|
SID "2672"
|
|
|
Ports [1]
|
|
|
Position [510, 14, 540, 46]
|
|
|
ZOrder 50
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData4','DataLoggingLimitDataPoints',true,'DataLo"
|
|
|
"ggingSaveFormat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visu"
|
|
|
"als','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelRe"
|
|
|
"al','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMa"
|
|
|
"gPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'Colo"
|
|
|
"rOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.3"
|
|
|
"92156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 "
|
|
|
"1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChann"
|
|
|
"elNames',{{}},'NumLines',1,'LineNames',{{'Demux/1'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefault"
|
|
|
"s',struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag',"
|
|
|
"'1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTick"
|
|
|
"Color',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.074509803"
|
|
|
"9215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07450980"
|
|
|
"39215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'"
|
|
|
"Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]"
|
|
|
"}},'ShowContent',true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration"
|
|
|
"('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[10 60 1610 843])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "Scope5"
|
|
|
SID "2681"
|
|
|
Ports [1]
|
|
|
Position [105, 154, 135, 186]
|
|
|
ZOrder 54
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(ext"
|
|
|
"mgr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration("
|
|
|
"'Sources','WiredSimulink',true,'DataLoggingVariableName','ScopeData5','DataLoggingLimitDataPoints',true,'DataLo"
|
|
|
"ggingSaveFormat','Array','DataLoggingDecimation','1','DataLoggingDecimateData',true),extmgr.Configuration('Visu"
|
|
|
"als','Time Domain',true,'SerializedDisplays',{struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','YLabelRe"
|
|
|
"al','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMa"
|
|
|
"gPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'Colo"
|
|
|
"rOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.3"
|
|
|
"92156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 "
|
|
|
"1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChann"
|
|
|
"elNames',{{}},'NumLines',4,'LineNames',{{'Derivative:1','Derivative:2','Derivative:3','Derivative:4'}},'ShowCon"
|
|
|
"tent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-1.00000','MaxYLimReal','1.00000','Y"
|
|
|
"LabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.00000','LegendVisibility','off','XGrid',true,'YGrid',true,"
|
|
|
"'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922"
|
|
|
"],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372"
|
|
|
"549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.058823529411"
|
|
|
"7647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefin"
|
|
|
"edChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'Placement',1)),extmgr.Configuration('T"
|
|
|
"ools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2"
|
|
|
"018b','Location',[10 60 1610 843])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Terminator
|
|
|
Name "Terminator"
|
|
|
SID "2649"
|
|
|
Position [530, 95, 550, 115]
|
|
|
ZOrder 42
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wd"
|
|
|
SID "2644"
|
|
|
Position [630, 118, 660, 132]
|
|
|
ZOrder 40
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "Quaternion\nMultiplication"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 3
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "wd"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 4
|
|
|
SrcBlock "Quaternion\nConjugate"
|
|
|
SrcPort 1
|
|
|
DstBlock "Quaternion\nMultiplication"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 5
|
|
|
SrcBlock "Add"
|
|
|
SrcPort 1
|
|
|
DstBlock "Demux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 6
|
|
|
SrcBlock "Constant"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 7
|
|
|
SrcBlock "Quaternion\nConjugate1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Quaternion\nMultiplication1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 14
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 1
|
|
|
Points [15, 0]
|
|
|
Branch {
|
|
|
ZOrder 13
|
|
|
Points [0, -75]
|
|
|
DstBlock "Scope4"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 12
|
|
|
DstBlock "Terminator"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Derivative"
|
|
|
SrcPort 1
|
|
|
Points [65, 0]
|
|
|
Branch {
|
|
|
ZOrder 16
|
|
|
DstBlock "Scope5"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 15
|
|
|
DstBlock "Quaternion\nMultiplication"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 31
|
|
|
SrcBlock "In1"
|
|
|
SrcPort 1
|
|
|
Points [124, 0]
|
|
|
Branch {
|
|
|
ZOrder 34
|
|
|
Points [0, 75]
|
|
|
Branch {
|
|
|
ZOrder 21
|
|
|
Points [0, 60]
|
|
|
Branch {
|
|
|
ZOrder 20
|
|
|
Points [0, 70]
|
|
|
DstBlock "Quaternion\nMultiplication2"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 19
|
|
|
DstBlock "Quaternion\nConjugate1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 18
|
|
|
DstBlock "Derivative"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 33
|
|
|
DstBlock "Quaternion\nConjugate"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 26
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
Points [42, 0]
|
|
|
Branch {
|
|
|
ZOrder 25
|
|
|
DstBlock "Add"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 24
|
|
|
Points [0, -75]
|
|
|
DstBlock "Scope3"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 27
|
|
|
SrcBlock "Quaternion\nMultiplication1"
|
|
|
SrcPort 1
|
|
|
Points [23, 0; 0, 40]
|
|
|
DstBlock "Quaternion\nMultiplication2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 30
|
|
|
SrcBlock "Demux"
|
|
|
SrcPort 2
|
|
|
Points [14, 0]
|
|
|
Branch {
|
|
|
ZOrder 29
|
|
|
Points [0, 65]
|
|
|
DstBlock "Scope1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 28
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 47
|
|
|
SrcBlock "Gain2"
|
|
|
SrcPort 1
|
|
|
Points [90, 0; 0, -20]
|
|
|
DstBlock "Quaternion\nMultiplication1"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 75
|
|
|
SrcBlock "Quaternion\nMultiplication2"
|
|
|
SrcPort 1
|
|
|
Points [114, 0; 0, -90]
|
|
|
Branch {
|
|
|
ZOrder 9
|
|
|
DstBlock "Scope2"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 8
|
|
|
Points [0, -80]
|
|
|
DstBlock "Add"
|
|
|
DstPort 2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "Qd"
|
|
|
SID "2364"
|
|
|
Position [500, -112, 530, -98]
|
|
|
ZOrder -13
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Outport
|
|
|
Name "wd"
|
|
|
SID "2713"
|
|
|
Position [575, 98, 605, 112]
|
|
|
ZOrder 45
|
|
|
BackgroundColor "[0.000000, 0.501961, 0.250980]"
|
|
|
Port "2"
|
|
|
IconDisplay "Port number"
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 20
|
|
|
SrcBlock "Mux"
|
|
|
SrcPort 1
|
|
|
DstBlock "Angle Conversion"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 21
|
|
|
SrcBlock "Angle Conversion"
|
|
|
SrcPort 1
|
|
|
DstBlock "Selector"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 63
|
|
|
SrcBlock "Constant1"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 64
|
|
|
SrcBlock "Constant2"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 65
|
|
|
SrcBlock "Constant3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Mux"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 180
|
|
|
SrcBlock "Subsystem"
|
|
|
SrcPort 1
|
|
|
DstBlock "wd"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 192
|
|
|
SrcBlock "Rotation Angles to Quaternions"
|
|
|
SrcPort 1
|
|
|
Points [46, 0]
|
|
|
Branch {
|
|
|
ZOrder 186
|
|
|
Points [0, 115]
|
|
|
DstBlock "Subsystem"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 181
|
|
|
Points [0, -95]
|
|
|
Branch {
|
|
|
ZOrder 197
|
|
|
Points [0, -60]
|
|
|
DstBlock "Scope"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 196
|
|
|
DstBlock "Qd"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 193
|
|
|
SrcBlock "Selector"
|
|
|
SrcPort 1
|
|
|
DstBlock "Rotation Angles to Quaternions"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2409"
|
|
|
Name "yaw"
|
|
|
Position [66, 17, 86, 31]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
HorizontalAlignment "left"
|
|
|
VerticalAlignment "top"
|
|
|
ZOrder -1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2365"
|
|
|
Name "Roll"
|
|
|
Position [66, -75, 85, -61]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2366"
|
|
|
Name "Pitch"
|
|
|
Position [63, -27, 87, -13]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ZOrder -2
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem4"
|
|
|
SID "2367"
|
|
|
RequirementInfo "{} %GIDa_853d6420_5ded_4464_b4ef_854dbbc4c280"
|
|
|
Ports []
|
|
|
Position [335, 90, 471, 129]
|
|
|
ZOrder -10
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
OpenFcn "initial_data_new"
|
|
|
FontName "<22><><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 161
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem4"
|
|
|
Location [-4, -4, 1604, 840]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType SubSystem
|
|
|
Name "Subsystem5"
|
|
|
SID "2368"
|
|
|
Ports []
|
|
|
Position [440, 475, 576, 514]
|
|
|
ZOrder -11
|
|
|
ForegroundColor "red"
|
|
|
BackgroundColor "[0.752941, 0.752941, 0.752941]"
|
|
|
ShowName off
|
|
|
OpenFcn "DataPlot\nmyzoom "
|
|
|
FontName "<22><><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD>"
|
|
|
FontSize 22
|
|
|
RequestExecContextInheritance off
|
|
|
Object {
|
|
|
$PropName "MaskObject"
|
|
|
$ObjectID 162
|
|
|
$ClassName "Simulink.Mask"
|
|
|
Display "disp('<27>鿴<EFBFBD><E9BFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>')"
|
|
|
}
|
|
|
System {
|
|
|
Name "Subsystem5"
|
|
|
Location [403, 291, 957, 775]
|
|
|
Open off
|
|
|
PortBlocksUseCompactNotation off
|
|
|
SetExecutionDomain off
|
|
|
ExecutionDomainType "Deduce"
|
|
|
ModelBrowserVisibility off
|
|
|
ModelBrowserWidth 200
|
|
|
ScreenColor "white"
|
|
|
PaperOrientation "landscape"
|
|
|
PaperPositionMode "auto"
|
|
|
PaperType "A4"
|
|
|
PaperUnits "centimeters"
|
|
|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
|
|
|
TiledPageScale 1
|
|
|
ShowPageBoundaries off
|
|
|
ZoomFactor "100"
|
|
|
}
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "a_sat"
|
|
|
SID "2369"
|
|
|
Ports [1]
|
|
|
Position [820, 209, 850, 241]
|
|
|
ZOrder -12
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','a_sat','DataLoggingDecimation','20','"
|
|
|
"DataLoggingDecimateData',true,'DataLoggingSaveFormat','Array'),extmgr.Configuration('Visuals','Time Domain',true"
|
|
|
",'SerializedDisplays',{struct('MinYLimReal','-0.18286','MaxYLimReal','0.6457','YLabelReal','','MinYLimMag','0.00"
|
|
|
"000','MaxYLimMag','0.6457','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',["
|
|
|
"0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666"
|
|
|
"667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019"
|
|
|
"608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.65098"
|
|
|
"0392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'Lin"
|
|
|
"eNames',{{'Gain:1','Gain:2','Gain:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinY"
|
|
|
"LimReal','-0.18286','MaxYLimReal','0.6457','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.6457','LegendV"
|
|
|
"isibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509"
|
|
|
"803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.6235294117"
|
|
|
"64706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.7176470588"
|
|
|
"23529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<SignalLabel>"
|
|
|
"','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent',true,'"
|
|
|
"Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configuration('Too"
|
|
|
"ls','Measurements',true,'Version','2018b')),'Version','2018b','Location',[0 58 1600 841])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "a_sat1"
|
|
|
SID "2370"
|
|
|
Ports [1]
|
|
|
Position [780, 89, 810, 121]
|
|
|
ZOrder -13
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "C++SS(StrPVP('Location','[11, 60, 1039, 775]'),StrPVP('Open','off'),StrPVP('ZoomMode',"
|
|
|
"'yonly'),MxPVP('AxesTitles',53,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',56,'struct(''Figure"
|
|
|
"Color'',''[0.5 0.5 0.5]'',''AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 1;"
|
|
|
"0 1 1;1 0 0;0 1 0;0 0 1]'',''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''MarkerS"
|
|
|
"tyles'',''none|none|none|none|none|none'')'),StrPVP('ShowLegends','off'),StrPVP('YMin','1'),StrPVP('YMax','3'),S"
|
|
|
"trPVP('SaveToWorkspace','on'),StrPVP('SaveName','a_sat1'),StrPVP('LimitDataPoints','off'),StrPVP('Decimation','2"
|
|
|
"0'),StrPVP('BlockParamSampleTime','0'),StrPVP('ScrollMode','off'),StrPVP('DataFormat','Array'),StrPVP('BlockPara"
|
|
|
"mSampleInput','off'))"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "q_sat"
|
|
|
SID "2371"
|
|
|
Ports [1]
|
|
|
Position [790, 284, 820, 316]
|
|
|
ZOrder -14
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "C++SS(StrPVP('Location','[361, 223, 1131, 714]'),StrPVP('Open','off'),StrPVP('ZoomMode"
|
|
|
"','yonly'),MxPVP('AxesTitles',53,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',56,'struct(''Figu"
|
|
|
"reColor'',''[0.5 0.5 0.5]'',''AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 "
|
|
|
"1;0 1 1;1 0 0;0 1 0;0 0 1]'',''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''Marke"
|
|
|
"rStyles'',''none|none|none|none|none|none'')'),StrPVP('ShowLegends','off'),StrPVP('YMin','-0.2'),StrPVP('YMax','"
|
|
|
"1'),StrPVP('SaveToWorkspace','on'),StrPVP('SaveName','q_sat'),StrPVP('LimitDataPoints','off'),StrPVP('Decimation"
|
|
|
"','20'),StrPVP('BlockParamSampleTime','0'),StrPVP('ScrollMode','off'),StrPVP('DataFormat','Array'),StrPVP('Block"
|
|
|
"ParamSampleInput','off'))"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Block {
|
|
|
BlockType Scope
|
|
|
Name "w_sat"
|
|
|
SID "2372"
|
|
|
Ports [1]
|
|
|
Position [810, 359, 840, 391]
|
|
|
ZOrder -15
|
|
|
ForegroundColor "[1.000000, 0.501961, 0.752941]"
|
|
|
ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm"
|
|
|
"gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S"
|
|
|
"ources','WiredSimulink',true,'DataLogging',true,'DataLoggingVariableName','w_sat','DataLoggingDecimation','20','"
|
|
|
"DataLoggingDecimateData',true,'DataLoggingSaveFormat','Array'),extmgr.Configuration('Visuals','Time Domain',true"
|
|
|
",'SerializedDisplays',{struct('MinYLimReal','-0.10417','MaxYLimReal','0.38968','YLabelReal','','MinYLimMag','0.0"
|
|
|
"0000','MaxYLimMag','0.38968','LegendVisibility','Off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor'"
|
|
|
",[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06666666666"
|
|
|
"66667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313725490"
|
|
|
"19608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650"
|
|
|
"980392156863],'Title','%<SignalLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',3,'L"
|
|
|
"ineNames',{{'Gain1:1','Gain1:2','Gain1:3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct("
|
|
|
"'MinYLimReal','-0.10417','MaxYLimReal','0.38968','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.38968','"
|
|
|
"LegendVisibility','Off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68"
|
|
|
"6274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623"
|
|
|
"529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717"
|
|
|
"647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%<Signa"
|
|
|
"lLabel>','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',0,'LineNames',{{[]}},'ShowContent'"
|
|
|
",true,'Placement',1)),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Configurati"
|
|
|
"on('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Location',[1 66 1601 855])"
|
|
|
NumInputPorts "1"
|
|
|
Floating off
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 1
|
|
|
SrcBlock "Determination "
|
|
|
SrcPort 1
|
|
|
DstBlock "Controller"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 2
|
|
|
SrcBlock "SatModel"
|
|
|
SrcPort 1
|
|
|
DstBlock "Gain"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 12
|
|
|
SrcBlock "Determination "
|
|
|
SrcPort 2
|
|
|
DstBlock "Controller"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 13
|
|
|
SrcBlock "Gain"
|
|
|
SrcPort 1
|
|
|
DstBlock "a_sat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 15
|
|
|
SrcBlock "Controller"
|
|
|
SrcPort 1
|
|
|
Points [40, 0]
|
|
|
DstBlock "SatModel"
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 16
|
|
|
SrcBlock "Controller"
|
|
|
SrcPort 2
|
|
|
DstBlock "SatModel"
|
|
|
DstPort 3
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 17
|
|
|
SrcBlock "Disturb"
|
|
|
SrcPort 1
|
|
|
Points [5, 0; 0, 15]
|
|
|
DstBlock "SatModel"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 18
|
|
|
SrcBlock "Subsystem3"
|
|
|
SrcPort 1
|
|
|
DstBlock "Determination "
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 19
|
|
|
SrcBlock "From"
|
|
|
SrcPort 1
|
|
|
DstBlock "a_sat1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 44
|
|
|
SrcBlock "Subsystem3"
|
|
|
SrcPort 2
|
|
|
Points [45, 0; 0, 20]
|
|
|
DstBlock "Determination "
|
|
|
DstPort 2
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 28
|
|
|
SrcBlock "SatModel"
|
|
|
SrcPort 2
|
|
|
Points [31, 0]
|
|
|
Branch {
|
|
|
ZOrder 43
|
|
|
Points [0, 151; -463, 0; 0, -61]
|
|
|
DstBlock "Determination "
|
|
|
DstPort 4
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 42
|
|
|
DstBlock "q_sat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 29
|
|
|
SrcBlock "SatModel"
|
|
|
SrcPort 3
|
|
|
Points [17, 0]
|
|
|
Branch {
|
|
|
ZOrder 41
|
|
|
Points [0, 54; -469, 0; 0, -79]
|
|
|
DstBlock "Determination "
|
|
|
DstPort 3
|
|
|
}
|
|
|
Branch {
|
|
|
ZOrder 40
|
|
|
DstBlock "Gain1"
|
|
|
DstPort 1
|
|
|
}
|
|
|
}
|
|
|
Line {
|
|
|
ZOrder 33
|
|
|
SrcBlock "Gain1"
|
|
|
SrcPort 1
|
|
|
DstBlock "w_sat"
|
|
|
DstPort 1
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2373"
|
|
|
Name "T_e"
|
|
|
Position [575, 189, 595, 220]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2374"
|
|
|
Name "T_c"
|
|
|
Position [576, 264, 596, 295]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -2
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2375"
|
|
|
Name "h"
|
|
|
Position [579, 353, 591, 375]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -3
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2378"
|
|
|
Name "q_b_e"
|
|
|
Position [262, 314, 288, 345]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -6
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2379"
|
|
|
Name "\\omega_b_e"
|
|
|
Position [260, 359, 289, 390]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -7
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2380"
|
|
|
Name "q_e"
|
|
|
Position [421, 249, 439, 280]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -8
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2381"
|
|
|
Name "\\omega_e"
|
|
|
Position [419, 344, 440, 375]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -9
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2382"
|
|
|
Name "q_d"
|
|
|
Position [265, 239, 285, 270]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -10
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
Annotation {
|
|
|
SID "2664"
|
|
|
Name "\\omega_d"
|
|
|
Position [264, 282, 287, 313]
|
|
|
InternalMargins [0, 0, 0, 0]
|
|
|
ForegroundColor "purple"
|
|
|
Interpreter "tex"
|
|
|
ZOrder -1
|
|
|
FontName "Times New Roman"
|
|
|
FontSize 18
|
|
|
FontWeight "bold"
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
#Finite State Machines
|
|
|
#
|
|
|
# Stateflow 80000014
|
|
|
#
|
|
|
#
|
|
|
Stateflow {
|
|
|
machine {
|
|
|
id 1
|
|
|
name "sat9_new"
|
|
|
created "09-Feb-2023 11:27:48"
|
|
|
isLibrary 0
|
|
|
sfVersion 80000014
|
|
|
firstTarget 2
|
|
|
}
|
|
|
target {
|
|
|
id 2
|
|
|
machine 1
|
|
|
name "sfun"
|
|
|
description "Default Simulink S-Function Target."
|
|
|
linkNode [1 0 0]
|
|
|
}
|
|
|
}
|