qlib.mdl

四元数表示的

	  DstBlock		  "Fcn3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn1"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn3"
	  SrcPort		  1
	  DstBlock		  "Gain4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn2"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum8"
	  SrcPort		  1
	  DstBlock		  "Sign 1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn4"
	  SrcPort		  1
	  Points		  [70, 0; 0, -240]
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sign 1"
	  SrcPort		  1
	  DstBlock		  "Fcn4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum9"
	  SrcPort		  1
	  DstBlock		  "Sign 2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn5"
	  SrcPort		  1
	  Points		  [80, 0; 0, -235]
	  DstBlock		  "Product1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sign 2"
	  SrcPort		  1
	  DstBlock		  "Fcn5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum10"
	  SrcPort		  1
	  DstBlock		  "Sign 3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn6"
	  SrcPort		  1
	  Points		  [90, 0]
	  DstBlock		  "Product2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sign 3"
	  SrcPort		  1
	  DstBlock		  "Fcn6"
	  DstPort		  1
	}
	Line {
	  Name			  "A23"
	  Labels		  [1, 0]
	  SrcBlock		  "Bus\nSelector1"
	  SrcPort		  1
	  DstBlock		  "Sum8"
	  DstPort		  1
	}
	Line {
	  Name			  "A32"
	  Labels		  [1, 0]
	  SrcBlock		  "Bus\nSelector1"
	  SrcPort		  2
	  DstBlock		  "Sum8"
	  DstPort		  2
	}
	Line {
	  Name			  "A22"
	  Labels		  [0, 1]
	  SrcBlock		  "Bus\nSelector"
	  SrcPort		  2
	  Points		  [40, 0]
	  Branch {
	    Labels		    [-1, 1]
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, 55]
	    Branch {
	      Labels		      [-1, 1]
	      DstBlock		      "Sum1"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [0, 55]
	      Branch {
		Labels			[-1, 1]
		Points			[0, 55]
		DstBlock		"Sum3"
		DstPort			2
	      }
	      Branch {
		Labels			[-1, 1]
		DstBlock		"Sum2"
		DstPort			2
	      }
	    }
	  }
	}
	Line {
	  Name			  "A11"
	  Labels		  [0, 1]
	  SrcBlock		  "Bus\nSelector"
	  SrcPort		  1
	  Points		  [50, 0]
	  Branch {
	    Labels		    [-1, 1]
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 55]
	    Branch {
	      Labels		      [-1, 1]
	      DstBlock		      "Sum1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 55]
	      Branch {
		Labels			[-1, 1]
		DstBlock		"Sum2"
		DstPort			1
	      }
	      Branch {
		Labels			[-1, 1]
		Points			[0, 55]
		DstBlock		"Sum3"
		DstPort			1
	      }
	    }
	  }
	}
	Line {
	  Name			  "A33"
	  Labels		  [0, 1]
	  SrcBlock		  "Bus\nSelector"
	  SrcPort		  3
	  Points		  [30, 0]
	  Branch {
	    Labels		    [-1, 1]
	    DstBlock		    "Sum"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [0, 55]
	    Branch {
	      Labels		      [-1, 1]
	      DstBlock		      "Sum1"
	      DstPort		      3
	    }
	    Branch {
	      Points		      [0, 55]
	      Branch {
		Labels			[-1, 1]
		Points			[0, 55]
		DstBlock		"Sum3"
		DstPort			3
	      }
	      Branch {
		Labels			[-1, 1]
		DstBlock		"Sum2"
		DstPort			3
	      }
	    }
	  }
	}
	Line {
	  Name			  "A13"
	  Labels		  [1, 0]
	  SrcBlock		  "Bus\nSelector2"
	  SrcPort		  1
	  DstBlock		  "Sum9"
	  DstPort		  1
	}
	Line {
	  Name			  "A31"
	  Labels		  [1, 0]
	  SrcBlock		  "Bus\nSelector2"
	  SrcPort		  2
	  DstBlock		  "Sum9"
	  DstPort		  2
	}
	Line {
	  Name			  "A21"
	  Labels		  [1, 0]
	  SrcBlock		  "Bus\nSelector3"
	  SrcPort		  2
	  DstBlock		  "Sum10"
	  DstPort		  2
	}
	Line {
	  Name			  "A12"
	  Labels		  [1, 0]
	  SrcBlock		  "Bus\nSelector3"
	  SrcPort		  1
	  DstBlock		  "Sum10"
	  DstPort		  1
	}
	Line {
	  Name			  "A11"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  Name			  "A12"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  2
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  Name			  "A13"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  3
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  Name			  "A21"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  4
	  DstBlock		  "Mux1"
	  DstPort		  4
	}
	Line {
	  Name			  "A22"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  5
	  DstBlock		  "Mux1"
	  DstPort		  5
	}
	Line {
	  Name			  "A23"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  6
	  DstBlock		  "Mux1"
	  DstPort		  6
	}
	Line {
	  Name			  "A31"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  7
	  DstBlock		  "Mux1"
	  DstPort		  7
	}
	Line {
	  Name			  "A32"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  8
	  DstBlock		  "Mux1"
	  DstPort		  8
	}
	Line {
	  Name			  "A33"
	  Labels		  [-1, 0]
	  SrcBlock		  "Demux2"
	  SrcPort		  9
	  DstBlock		  "Mux1"
	  DstPort		  9
	}
	Line {
	  SrcBlock		  "DCM"
	  SrcPort		  1
	  DstBlock		  "Demux2"
	  DstPort		  1
	}
	Line {
	  Name			  "A"
	  Labels		  [1, 1]
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    Points		    [0, -105]
	    DstBlock		    "Bus\nSelector"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 145]
	    Branch {
	      DstBlock		      "Bus\nSelector1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 50]
	      Branch {
		DstBlock		"Bus\nSelector2"
		DstPort			1
	      }
	      Branch {
		Points			[0, 45]
		DstBlock		"Bus\nSelector3"
		DstPort			1
	      }
	    }
	  }
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  Points		  [5, 0; 0, 30]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product1"
	  SrcPort		  1
	  Points		  [5, 0; 0, 10]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Product2"
	  SrcPort		  1
	  Points		  [5, 0; 0, -10]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Gain4"
	  SrcPort		  1
	  Points		  [85, 0; 0, -20]
	  DstBlock		  "Mux"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "q"
	  DstPort		  1
	}
	Annotation {
	  Position		  [636, 366]
	  ForegroundColor	  "blue"
	  Text			  "Used Fcn blocks here because\nI have found "
"strange behavior\nfor the Relational block for\nvery small timesteps."
	}
	Annotation {
	  Position		  [317, 458]
	  Text			  "q1 = 1/2 sqrt( 1 + A_11 - A_22 - A_33 )  sg"
"n( A_23 - A_32 )"
	}
	Annotation {
	  Position		  [317, 473]
	  Text			  "q2 = 1/2 sqrt( 1 - A_11 + A_22 - A_33 )  sg"
"n( A_31 - A_13 )"
	}
	Annotation {
	  Position		  [317, 488]
	  Text			  "q3 = 1/2 sqrt( 1 - A_11 - A_22 + A_33 )  sg"
"n( A_12 - A_21 )"
	}
	Annotation {
	  Position		  [267, 503]
	  Text			  "q4 = 1/2 sqrt( 1 + A_11 + A_22 + A_33 ) "
	}
	Annotation {
	  Position		  [126, 459]
	  Text			  "Equations:"
	}
	Annotation {
	  Position		  [570, 458]
	  Text			  "Note that in this case, sgn(0) = 1"
	}
	Annotation {
	  Position		  [574, 495]
	  Text			  "Also note that in the implementation,\nfor "
"sqrt(x), x<0, we are setting x=0.\nThis is arbitrary, but seemed to produce\n"
"the best results."
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Quaternion\nConjugate"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [130, 89, 170, 121]
      ShowPortLabels	      on
      MaskType		      "Quaternion Conjugate"
      MaskDescription	      "q* = [ -q(1)  -q(2)  -q(3)  q(4) ]"
      MaskDisplay	      "disp('q*')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "pixels"
      System {
	Name			"Quaternion\nConjugate"
	Location		[348, 366, 662, 478]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  Position		  [25, 48, 55, 62]
	  BackgroundColor	  "cyan"
	  Port			  "1"
	  PortWidth		  "4"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [80, 36, 85, 74]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "[3 1]"
	  Port {
	    PortNumber		    1
	    Name		    "[ q(1)  q(2)  q(3) ]"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "q(4)"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [180, 30, 210, 60]
	  NamePlacement		  "alternate"
	  ShowName		  off
	  Gain			  "-1"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [230, 36, 235, 74]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "q*"
	  Position		  [255, 48, 285, 62]
	  BackgroundColor	  "yellow"
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  Name			  "[ q(1)  q(2)  q(3) ]"
	  Labels		  [0, 1]
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  Name			  "q(4)"
	  Labels		  [0, 1]
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "q*"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Quaternion\nDecomposition"
      Ports		      [1, 2, 0, 0, 0]
      Position		      [40, 237, 80, 273]
      ShowPortLabels	      on
      MaskType		      "Quaternion Decomposition"
      MaskDescription	      "Breaks down a quaternion into its unit vector a"
"nd total rotation angle about that vector.  If the components of the quaterni"
"on are denoted:\n\n     q = [ q(1)  q(2)  q(3)  q(4) ]\n\nThen:\n\n     q(1) "
"= v1 sin(phi/2)\n     q(2) = v2 sin(phi/2)\n     q(3) = v3 sin(phi/2)\n     q"
"(4) = cos(phi/2)\n\nWhere phi is the amount of rotation about the unit vector"
" [ v1  v2  v3 ]."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "pixels"
      System {
	Name			"Quaternion\nDecomposition"
	Location		[7, 117, 623, 329]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  Position		  [20, 68, 50, 82]
	  BackgroundColor	  "cyan"
	  Port			  "1"
	  PortWidth		  "4"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [145, 19, 150, 126]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "[3 1]"
	  Port {
	    PortNumber		    1
	    Name		    "[ q(1)  q(2)  q(3) ]"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "q(4)"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn"
	  Position		  [340, 82, 435, 118]
	  Expr			  "1/((u==0)+u)"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [380, 145, 410, 175]
	  Gain			  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [485, 37, 515, 68]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Reference
	  Name			  "Quaternion\nNormalize"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [80, 59, 120, 91]
	  SourceBlock		  "qlib/Quaternion\nNormalize"