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MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "More Info1"
Location [128, 280, 487, 453]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Annotation {
Name "This system models a double pendulum system"
" where\nthe rest state has both pendulums hanging vertically."
Position [170, 27]
}
Annotation {
Name "Associated with the demo is an animation fu"
"nction that\nwill automatically open a figure window and display to it."
Position [176, 72]
}
Annotation {
Name "Try experimenting with different initial co"
"nditions for\nalpha and gamma to see the unusal coupling effects."
Position [177, 122]
}
}
}
Block {
BlockType Fcn
Name "S"
Position [105, 300, 150, 330]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "cos(u(1)-u(3))"
}
Block {
BlockType Scope
Name "State\nScope"
Ports [1]
Position [225, 285, 250, 315]
Orientation "left"
ForegroundColor "blue"
BackgroundColor "cyan"
Location [85, 117, 373, 349]
Open off
NumInputPorts "1"
TickLabels "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "40.000000"
DataFormat "Array"
}
Block {
BlockType Integrator
Name "alpha"
Ports [1, 1]
Position [430, 158, 455, 192]
ForegroundColor "blue"
BackgroundColor "cyan"
InitialCondition "0*(pi/180)"
}
Block {
BlockType Fcn
Name "alphaDDot"
Position [260, 160, 305, 190]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "(-l2*u(1)+n*w2*u(5)*u(3)-n*e*u(5)*u(6)*u(2)-n*u"
"(6)*u(4))/(1-n*e*u(5)*u(5))"
}
Block {
BlockType Integrator
Name "alphaDot"
Ports [1, 1]
Position [340, 158, 365, 192]
ForegroundColor "blue"
BackgroundColor "cyan"
}
Block {
BlockType Integrator
Name "gamma"
Ports [1, 1]
Position [430, 213, 455, 247]
ForegroundColor "blue"
BackgroundColor "cyan"
InitialCondition "80*(pi/180)"
}
Block {
BlockType Fcn
Name "gammaDDot"
Position [260, 215, 305, 245]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "(-w2*u(3)+e*l2*u(5)*u(1)+n*e*u(5)*u(6)*u(4)+e*u"
"(6)*u(2))/(1-n*e*u(5)*u(5))"
}
Block {
BlockType Integrator
Name "gammaDot"
Ports [1, 1]
Position [340, 213, 365, 247]
ForegroundColor "blue"
BackgroundColor "cyan"
}
Block {
BlockType Mux
Name "modified\nstate\nvector"
Ports [6, 1]
Position [190, 167, 220, 233]
ForegroundColor "blue"
BackgroundColor "cyan"
Inputs "6"
}
Block {
BlockType Scope
Name "scope"
Ports [1]
Position [385, 110, 410, 140]
Orientation "left"
ForegroundColor "blue"
BackgroundColor "cyan"
Location [47, 131, 335, 363]
Open off
NumInputPorts "1"
TickLabels "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "60.000000"
DataFormat "Array"
}
Block {
BlockType Fcn
Name "sin(alpha)"
Position [105, 75, 150, 105]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "sin(u)"
}
Block {
BlockType Fcn
Name "sin(gamma)"
Position [105, 165, 150, 195]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "sin(u)"
}
Block {
BlockType Mux
Name "state\nvector"
Ports [4, 1]
Position [340, 319, 370, 376]
Orientation "left"
ForegroundColor "blue"
BackgroundColor "cyan"
}
Block {
BlockType Demux
Name "state\nvector\n[a aD g gD]"
Ports [1, 4]
Position [25, 137, 65, 183]
ForegroundColor "blue"
BackgroundColor "cyan"
}
Block {
BlockType Mux
Name "state\nvector1"
Ports [2, 1]
Position [440, 68, 470, 117]
Orientation "left"
ForegroundColor "blue"
BackgroundColor "cyan"
Inputs "2"
}
Line {
SrcBlock "alphaDDot"
SrcPort 1
DstBlock "alphaDot"
DstPort 1
}
Line {
SrcBlock "gammaDDot"
SrcPort 1
DstBlock "gammaDot"
DstPort 1
}
Line {
SrcBlock "alphaDot"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "alpha"
DstPort 1
}
Branch {
Points [0, 165]
DstBlock "state\nvector"
DstPort 2
}
}
Line {
SrcBlock "gammaDot"
SrcPort 1
Points [40, 0]
Branch {
DstBlock "gamma"
DstPort 1
}
Branch {
Points [0, 140]
DstBlock "state\nvector"
DstPort 4
}
}
Line {
SrcBlock "alpha"
SrcPort 1
Points [45, 0; 0, 0]
Branch {
Points [0, 150]
DstBlock "state\nvector"
DstPort 1
}
Branch {
Points [0, -95]
DstBlock "state\nvector1"
DstPort 1
}
}
Line {
SrcBlock "gamma"
SrcPort 1
Points [25, 0; 0, 0]
Branch {
Points [0, 125]
DstBlock "state\nvector"
DstPort 3
}
Branch {
DstBlock "state\nvector1"
DstPort 2
}
}
Line {
SrcBlock "state\nvector1"
SrcPort 1
Points [-10, 0]
Branch {
DstBlock "Animation\nFunction"
DstPort 1
}
Branch {
DstBlock "scope"
DstPort 1
}
}
Line {
SrcBlock "state\nvector"
SrcPort 1
Points [-50, 0]
Branch {
Points [-245, 0]
Branch {
Points [-30, 0]
DstBlock "state\nvector\n[a aD g gD]"
DstPort 1
}
Branch {
Points [0, -35]
Branch {
Points [0, -45]
DstBlock "C"
DstPort 1
}
Branch {
DstBlock "S"
DstPort 1
}
}
}
Branch {
Points [0, -50]
DstBlock "State\nScope"
DstPort 1
}
}
Line {
SrcBlock "sin(alpha)"
SrcPort 1
Points [20, 0]
DstBlock "modified\nstate\nvector"
DstPort 1
}
Line {
SrcBlock "(alphaDot)^2"
SrcPort 1
Points [15, 0; 0, 50]
DstBlock "modified\nstate\nvector"
DstPort 2
}
Line {
SrcBlock "sin(gamma)"
SrcPort 1
Points [10, 0; 0, 15]
DstBlock "modified\nstate\nvector"
DstPort 3
}
Line {
SrcBlock "(gammaDot)^2"
SrcPort 1
Points [10, 0; 0, -20]
DstBlock "modified\nstate\nvector"
DstPort 4
}
Line {
SrcBlock "C"
SrcPort 1
Points [15, 0; 0, -55]
DstBlock "modified\nstate\nvector"
DstPort 5
}
Line {
SrcBlock "S"
SrcPort 1
Points [20, 0]
DstBlock "modified\nstate\nvector"
DstPort 6
}
Line {
SrcBlock "modified\nstate\nvector"
SrcPort 1
Points [10, 0; 0, 0]
Branch {
Points [0, -25]
DstBlock "alphaDDot"
DstPort 1
}
Branch {
Points [0, 30]
DstBlock "gammaDDot"
DstPort 1
}
}
Line {
SrcBlock "state\nvector\n[a aD g gD]"
SrcPort 4
Points [15, 0; 0, 50]
DstBlock "(gammaDot)^2"
DstPort 1
}
Line {
SrcBlock "state\nvector\n[a aD g gD]"
SrcPort 3
Points [20, 0]
DstBlock "sin(gamma)"
DstPort 1
}
Line {
SrcBlock "state\nvector\n[a aD g gD]"
SrcPort 2
Points [20, 0]
DstBlock "(alphaDot)^2"
DstPort 1
}
Line {
SrcBlock "state\nvector\n[a aD g gD]"
SrcPort 1
Points [15, 0; 0, -55]
DstBlock "sin(alpha)"
DstPort 1
}
Annotation {
Name "Double Pendulum System II\n(Double click on the"
" \"?\" for more info)"
Position [137, 382]
ForegroundColor "blue"
}
Annotation {
Name "To start and stop the simulation, use the \"Sta"
"rt/Stop\"\nselection in the \"Simulation\" pull-down menu"
Position [166, 417]
ForegroundColor "blue"
}
Annotation {
Name "双轴单摆仿真实验"
Position [255, 32]
ForegroundColor "blue"
FontName "宋体"
FontSize 18
FontWeight "bold"
}
}
}
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