ballbeam_simulink.mdl

我的智能控制作业

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    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
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      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
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      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
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    Block {
      BlockType		      Product
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      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
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      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
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    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
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      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
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    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
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      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
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  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
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  System {
    Name		    "Ballbeam_simulink"
    Location		    [2, 82, 1014, 721]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
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    PaperUnits		    "centimeters"
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    ReportName		    "simulink-default.rpt"
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      BlockType		      Inport
      Name		      "in_1"
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      Port		      "1"
      IconDisplay	      "Port number"
      LatchInput	      off
    }
    Block {
      BlockType		      SubSystem
      Name		      "Ball-beam system"
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      Position		      [335, 141, 385, 244]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
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      MaskTunableValueString  "on"
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      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "init_cond=@1;"
      MaskDisplay	      "disp('Ball-beam\\nsystem')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[0 0 0 0]"
      System {
	Name			"Ball-beam system"
	Location		[2, 78, 1022, 717]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
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	Block {
	  BlockType		  Inport
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	Block {
	  BlockType		  Product
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	  Position		  [150, 88, 170, 132]
	  Orientation		  "left"
	  MaskIconFrame		  on
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	Block {
	  BlockType		  Sum
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	  Orientation		  "left"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
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	Block {
	  BlockType		  Gain
	  Name			  "a"
	  Position		  [55, 34, 120, 66]
	  Gain			  "0.7143"
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	Block {
	  BlockType		  Gain
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	  Orientation		  "left"
	  Gain			  "-9.81"
	  MaskIconFrame		  on
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	  MaskIconUnits		  "autoscale"
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	Block {
	  BlockType		  Integrator
	  Name			  "r"
	  Ports			  [1, 1]
	  Position		  [230, 39, 275, 61]
	  InitialCondition	  "init_cond(1)"
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	Block {
	  BlockType		  Integrator
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	Block {
	  BlockType		  Fcn
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	  Orientation		  "left"
	  MaskIconFrame		  on
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	  MaskIconRotate	  "none"
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	Block {
	  BlockType		  Integrator
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	  Ports			  [1, 1]
	  Position		  [225, 223, 275, 247]
	  InitialCondition	  "init_cond(3)"
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	Block {
	  BlockType		  Integrator
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	Block {
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	Block {
	  BlockType		  Outport
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	  Position		  [380, 40, 400, 60]
	  IconDisplay		  "Port number"
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	Block {
	  BlockType		  Outport
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	  Position		  [380, 95, 400, 115]
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	  IconDisplay		  "Port number"
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	  InitialOutput		  "0"
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	Block {
	  BlockType		  Outport
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	  IconDisplay		  "Port number"
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	Block {
	  BlockType		  Outport
	  Name			  "out_4"
	  Position		  [380, 270, 400, 290]
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	  IconDisplay		  "Port number"
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	  SrcPort		  1
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	Line {
	  SrcBlock		  "theta"
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	  Points		  [0, 0; 35, 0]
	  Branch {
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	  Points		  [0, 0; 25, 0]
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	    Branch {
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    Block {
      BlockType		      Outport
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      BlockType		      Outport
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    Block {
      BlockType		      Outport
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      SrcBlock		      "Ball-beam system"
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