qlib.mdl

四元数表示的

Library {
  Name			  "qlib"
  Version		  3.00
  BlockDataTips		  off
  BlockParametersDataTip  off
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  off
  StatusBar		  off
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Fri Oct 20 07:21:09 2000"
  Creator		  "stpierre"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "stpierre"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Jan 21 05:58:50 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:50>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "qlib"
    Location		    [423, 57, 722, 426]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    off
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "DCM to\nQuaternion"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [220, 238, 260, 272]
      ShowPortLabels	      on
      MaskType		      "DCM to Quaternion"
      MaskDescription	      "Converts a direction cosine matrix (DCM) to a q"
"uaternion that would perform the equivalent vector transformation, i.e., q*vq"
" = Rv, where R is the DCM, v is a vector, and q is the quaternion.\n\nNote th"
"at for purposes of quaternion-vector multiplication, a vector is treated as a"
" quaterion with a scalar element of zero."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"DCM to\nQuaternion"
	Location		[660, 249, 1418, 792]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "DCM"
	  Position		  [20, 173, 50, 187]
	  BackgroundColor	  "cyan"
	  Port			  "1"
	  PortWidth		  "9"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "Bus\nSelector"
	  Ports			  [1, 3, 0, 0, 0]
	  Position		  [185, 52, 190, 98]
	  ShowName		  off
	  OutputSignals		  "A11,A22,A33"
	  MuxedOutput		  off
	  Port {
	    PortNumber		    1
	    Name		    "A11"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "A22"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    3
	    Name		    "A33"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "Bus\nSelector1"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [225, 305, 230, 340]
	  ShowName		  off
	  OutputSignals		  "A23,A32"
	  MuxedOutput		  off
	  Port {
	    PortNumber		    1
	    Name		    "A23"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "A32"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "Bus\nSelector2"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [225, 355, 230, 390]
	  ShowName		  off
	  OutputSignals		  "A13,A31"
	  MuxedOutput		  off
	  Port {
	    PortNumber		    1
	    Name		    "A13"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "A31"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "Bus\nSelector3"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [225, 400, 230, 435]
	  ShowName		  off
	  OutputSignals		  "A12,A21"
	  MuxedOutput		  off
	  Port {
	    PortNumber		    1
	    Name		    "A12"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "A21"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [295, 15, 315, 35]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Value			  "1"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux2"
	  Ports			  [1, 9, 0, 0, 0]
	  Position		  [75, 85, 80, 275]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "9"
	  Port {
	    PortNumber		    1
	    Name		    "A11"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "A12"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    3
	    Name		    "A13"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    4
	    Name		    "A21"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    5
	    Name		    "A22"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    6
	    Name		    "A23"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    7
	    Name		    "A31"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    8
	    Name		    "A32"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    9
	    Name		    "A33"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn"
	  Position		  [390, 54, 460, 86]
	  ShowName		  off
	  Expr			  "sqrt((u>0)*u)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn1"
	  Position		  [390, 109, 460, 141]
	  ShowName		  off
	  Expr			  "sqrt((u>0)*u)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn2"
	  Position		  [390, 164, 460, 196]
	  ShowName		  off
	  Expr			  "sqrt((u>0)*u)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn3"
	  Position		  [390, 219, 460, 251]
	  ShowName		  off
	  Expr			  "sqrt((u>0)*u)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn4"
	  Position		  [405, 313, 460, 337]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Expr			  "(u==0)+u"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn5"
	  Position		  [405, 363, 460, 387]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Expr			  "(u==0)+u"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn6"
	  Position		  [405, 408, 460, 432]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Expr			  "(u==0)+u"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [480, 54, 520, 86]
	  ShowName		  off
	  Gain			  "0.5"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [480, 109, 520, 141]
	  ShowName		  off
	  Gain			  "0.5"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [480, 164, 520, 196]
	  ShowName		  off
	  Gain			  "0.5"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain4"
	  Position		  [480, 219, 520, 251]
	  ShowName		  off
	  Gain			  "0.5"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [4, 1, 0, 0, 0]
	  Position		  [645, 96, 650, 229]
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [9, 1, 0, 0, 0]
	  Position		  [120, 84, 125, 276]
	  ShowName		  off
	  Inputs		  "9"
	  DisplayOption		  "bar"
	  Port {
	    PortNumber		    1
	    Name		    "A"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [570, 63, 600, 92]
	  ShowName		  off
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "Product1"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [570, 117, 600, 148]
	  ShowName		  off
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "Product2"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [570, 172, 600, 203]
	  ShowName		  off
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign 1"
	  Position		  [345, 309, 380, 341]
	  ShowName		  off
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign 2"
	  Position		  [345, 359, 380, 391]
	  ShowName		  off
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign 3"
	  Position		  [345, 404, 380, 436]
	  ShowName		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [290, 53, 315, 97]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "+--"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [290, 108, 315, 152]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "-+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum10"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [290, 403, 320, 432]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [290, 163, 315, 207]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "--+"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [290, 218, 315, 262]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "+++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum4"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [355, 52, 370, 83]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum5"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [355, 107, 370, 138]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum6"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [355, 162, 370, 193]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum7"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [355, 217, 370, 248]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum8"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [290, 308, 320, 337]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum9"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [290, 358, 320, 387]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "-+"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [685, 158, 715, 172]
	  BackgroundColor	  "yellow"
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[0 0 0 1]"
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Sum4"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Sum5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  Points		  [10, 0; 0, 35]
	  Branch {
	    DstBlock		    "Sum4"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 55]
	    Branch {
	      DstBlock		      "Sum5"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 55]
	      Branch {
		DstBlock		"Sum6"
		DstPort			1
	      }
	      Branch {
		Points			[0, 55]
		DstBlock		"Sum7"
		DstPort			1
	      }
	    }
	  }
	}
	Line {
	  SrcBlock		  "Sum4"
	  SrcPort		  1
	  DstBlock		  "Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Sum7"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "Sum6"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "Product1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "Product2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum5"
	  SrcPort		  1
	  DstBlock		  "Fcn1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum6"
	  SrcPort		  1
	  DstBlock		  "Fcn2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum7"
	  SrcPort		  1