twopend.mdl

二阶倒立摆的simulink模型建模仿真。以及初始化代码

      TreatAsAtomicUnit	      off
      MaskDisplay	      "disp('load controller');"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Sub"
	Location		[2, 74, 790, 556]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      Ports		      [1, 6]
      Position		      [215, 83, 315, 137]
      TreatAsAtomicUnit	      off
      MaskInitialization      "init"
      MaskDisplay	      "disp('Plant');"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Subsystem"
	Location		[2, 82, 790, 564]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [80, 68, 110, 82]
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn"
	  Position		  [265, 126, 320, 154]
	  Expr			  "k12 * u[1]+ k13 * u[2] + k17 * u[3]"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn1"
	  Position		  [265, 200, 325, 230]
	  Expr			  "k22 * u[1] + k23 * u[2] + k27 * u[3]"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [180, 116, 220, 164]
	  ShowName		  off
	  Inputs		  "3"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [3, 1]
	  Position		  [180, 183, 220, 237]
	  ShowName		  off
	  Inputs		  "3"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta1"
	  Ports			  [1, 1]
	  Position		  [530, 120, 560, 150]
	  InitialCondition	  "0.01"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta1 dot"
	  Ports			  [1, 1]
	  Position		  [370, 119, 400, 161]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta2"
	  Ports			  [1, 1]
	  Position		  [530, 180, 560, 210]
	  InitialCondition	  "0.002"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta2 dot"
	  Ports			  [1, 1]
	  Position		  [375, 200, 400, 240]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x"
	  Ports			  [1, 1]
	  Position		  [530, 60, 560, 90]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x dot"
	  Ports			  [1, 1]
	  Position		  [370, 60, 400, 90]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1-x"
	  Position		  [650, 68, 680, 82]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out2-theta1"
	  Position		  [650, 128, 680, 142]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out3-theta2"
	  Position		  [650, 188, 680, 202]
	  Port			  "3"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out4-x dot"
	  Position		  [650, 268, 680, 282]
	  Port			  "4"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out5-theta1 dot"
	  Position		  [650, 318, 680, 332]
	  Port			  "5"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out6-theta2 dot"
	  Position		  [650, 378, 680, 392]
	  Port			  "6"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    DstBlock		    "x dot"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 80]
	    Branch {
	      DstBlock		      "Mux"
	      DstPort		      3
	    }
	    Branch {
	      Points		      [0, 75]
	      DstBlock		      "Mux1"
	      DstPort		      3
	    }
	  }
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Out1-x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "theta1"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    DstBlock		    "Out2-theta1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -90; -420, 0; 0, 80]
	    Branch {
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 65]
	      DstBlock		      "Mux1"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "theta2"
	  SrcPort		  1
	  Points		  [0, 0; 20, 0]
	  Branch {
	    DstBlock		    "Out3-theta2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -160; -445, 0; 0, 105]
	    Branch {
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [0, 70]
	      DstBlock		      "Mux1"
	      DstPort		      2
	    }
	  }
	}
	Line {
	  SrcBlock		  "x dot"
	  SrcPort		  1
	  Points		  [0, 0; 85, 0]
	  Branch {
	    DstBlock		    "x"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 200]
	    DstBlock		    "Out4-x dot"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "theta1 dot"
	  SrcPort		  1
	  Points		  [0, -5; 55, 0]
	  Branch {
	    DstBlock		    "theta1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 190]
	    DstBlock		    "Out5-theta1 dot"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "theta2 dot"
	  SrcPort		  1
	  Points		  [0, -25; 25, 0]
	  Branch {
	    DstBlock		    "theta2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 190]
	    DstBlock		    "Out6-theta2 dot"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [25, 0]
	  DstBlock		  "Fcn1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn"
	  SrcPort		  1
	  DstBlock		  "theta1 dot"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn1"
	  SrcPort		  1
	  Points		  [0, 5]
	  DstBlock		  "theta2 dot"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [505, 260, 525, 280]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [440, 260, 460, 280]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Constant
      Name		      "targetPos"
      Position		      [485, 35, 515, 65]
    }
    Line {
      SrcBlock		      "targetPos"
      SrcPort		      1
      Points		      [15, 0; 0, 220]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      1
      Points		      [195, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[95, 0; 0, -50]
	DstBlock		"Mux1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      2
      Points		      [130, 0]
      Branch {
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Points			[170, 0]
	Branch {
	  Points		  [30, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -40]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      3
      Points		      [160, 0]
      Branch {
	Points			[0, 165]
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	Points			[155, 0; 0, -30]
	DstBlock		"Mux1"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      4
      Points		      [310, 0; 0, 170]
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [0, 15]
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [0, 30]
      DstBlock		      "Mux"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      5
      Points		      [290, 0; 0, 205]
      DstBlock		      "Mux"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      6
      Points		      [65, 0; 0, 65]
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [30, 0; 0, 80]
      DstBlock		      "Fuzzy Logic \nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Fuzzy Logic \nController"
      SrcPort		      1
      Points		      [-120, 0; 0, -270]
      DstBlock		      "Subsystem"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "S-Function"
      DstPort		      1
    }
  }
}