📄 c6fstr2.mdl
字号:
Position [325, 78, 355, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "stuck"
DstPort 1
}
}
}
Block {
BlockType Merge
Name "Merge"
Ports [2, 1]
Position [425, 90, 465, 130]
Inputs "2"
InitialOutput "0"
AllowUnequalInputPortWidths off
InputPortOffsets "[]"
}
Block {
BlockType Terminator
Name "Terminator"
Position [440, 200, 460, 220]
}
Block {
BlockType Outport
Name "stuck"
Position [485, 103, 515, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Fstatic"
SrcPort 1
Points [45, 0; 0, -15]
DstBlock "If"
DstPort 2
}
Line {
SrcBlock "Fsum"
SrcPort 1
DstBlock "Abs"
DstPort 1
}
Line {
SrcBlock "Abs"
SrcPort 1
Points [20, 0]
DstBlock "If"
DstPort 1
}
Line {
SrcBlock "If Action\nSubsystem"
SrcPort 1
Points [15, 0; 0, 40]
DstBlock "Merge"
DstPort 1
}
Line {
SrcBlock "Merge"
SrcPort 1
DstBlock "stuck"
DstPort 1
}
Line {
SrcBlock "novelocity"
SrcPort 1
Points [55, 0; 0, -40]
DstBlock "If"
DstPort 3
}
Line {
SrcBlock "If"
SrcPort 3
Points [25, 0]
DstBlock "If Action\nSubsystem2"
DstPort ifaction
}
Line {
SrcBlock "If"
SrcPort 2
Points [30, 0; 0, -45]
DstBlock "If Action\nSubsystem1"
DstPort ifaction
}
Line {
SrcBlock "If Action\nSubsystem1"
SrcPort 1
Points [5, 0; 0, -20]
DstBlock "Merge"
DstPort 2
}
Line {
SrcBlock "If"
SrcPort 1
Points [15, 0; 0, -100]
DstBlock "If Action\nSubsystem"
DstPort ifaction
}
Line {
SrcBlock "If Action\nSubsystem2"
SrcPort 1
DstBlock "Terminator"
DstPort 1
}
Annotation {
Position [408, 48]
Text "stuck=1"
}
Annotation {
Position [423, 158]
Text "stuck=0"
}
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [120, 110, 140, 130]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [285, 110, 305, 130]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "friction force"
Ports [4, 1]
Position [190, 146, 270, 209]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "friction force"
Location [481, 194, 979, 487]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "Fsum"
Position [15, 48, 45, 62]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "Fstatic"
Position [20, 98, 50, 112]
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "stuck"
Position [20, 178, 50, 192]
Port "3"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "xdot"
Position [20, 223, 50, 237]
Port "4"
LatchInput off
Interpolate on
}
Block {
BlockType Abs
Name "Abs"
Position [140, 40, 170, 70]
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain"
Position [220, 214, 295, 246]
Gain "Fsliding"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
Port {
PortNumber 1
Name "fsliding"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
}
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [210, 127, 240, 158]
Inputs "2"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [205, 47, 235, 78]
Operator "<"
}
Block {
BlockType Signum
Name "Sign"
Position [160, 215, 190, 245]
ShowName off
}
Block {
BlockType Signum
Name "Sign1"
Position [140, 135, 170, 165]
ShowName off
}
Block {
BlockType Switch
Name "Switch"
Position [360, 162, 390, 208]
NamePlacement "alternate"
ShowName off
Threshold ".5"
}
Block {
BlockType Switch
Name "Switch1"
Position [290, 42, 320, 88]
NamePlacement "alternate"
ShowName off
Threshold ".5"
Port {
PortNumber 1
Name "fstatic"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
}
}
Block {
BlockType Outport
Name "Ff"
Position [425, 178, 455, 192]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "Ff"
DstPort 1
}
Line {
SrcBlock "stuck"
SrcPort 1
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "xdot"
SrcPort 1
DstBlock "Sign"
DstPort 1
}
Line {
SrcBlock "Sign"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
Name "fsliding"
Labels [0, 0]
SrcBlock "Gain"
SrcPort 1
Points [10, 0; 0, -30]
DstBlock "Switch"
DstPort 3
}
Line {
Name "fstatic"
Labels [2, 0]
SrcBlock "Switch1"
SrcPort 1
Points [15, 0; 0, 105]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Fsum"
SrcPort 1
Points [65, 0]
Branch {
DstBlock "Abs"
DstPort 1
}
Branch {
Points [0, 95]
DstBlock "Sign1"
DstPort 1
}
Branch {
Points [0, -45; 150, 0; 0, 40]
DstBlock "Switch1"
DstPort 1
}
}
Line {
SrcBlock "Sign1"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
Points [25, 0; 0, -65]
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Abs"
SrcPort 1
DstBlock "Relational\nOperator"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "Switch1"
DstPort 2
}
Line {
SrcBlock "Fstatic"
SrcPort 1
Points [125, 0]
Branch {
Points [0, 30]
DstBlock "Product"
DstPort 1
}
Branch {
Points [0, -35]
DstBlock "Relational\nOperator"
DstPort 2
}
}
}
}
Block {
BlockType Outport
Name "Out1"
Position [625, 28, 655, 42]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Hit \nCrossing"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Input Force"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, -95]
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "Sum1"
DstPort 1
}
}
Line {
SrcBlock "Int"
SrcPort state
Points [0, -17; 100, 0; 0, 55]
DstBlock "Hit \nCrossing"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "friction force"
DstPort 1
}
Branch {
Points [0, -45; 410, 0; 0, 50]
DstBlock "Subsystem"
DstPort 1
}
}
Line {
SrcBlock "friction force"
SrcPort 1
Points [20, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Int"
DstPort 1
}
Line {
SrcBlock "Int"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Int1"
DstPort 1
}
Branch {
Points [0, 100; -255, 0; 0, -30]
DstBlock "friction force"
DstPort 4
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Int1"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -85]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 170]
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [10, 0; 0, 125; -315, 0]
Branch {
Points [-220, 0; 0, -85]
DstBlock "friction force"
DstPort 3
}
Branch {
DstBlock "Int"
DstPort 2
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-155, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [0, 0; 40, 0]
Branch {
DstBlock "friction force"
DstPort 2
}
Branch {
Points [0, 80; 450, 0; 0, -85]
DstBlock "Subsystem"
DstPort 3
}
}
Annotation {
Position [435, 120]
Text "v"
}
Annotation {
Position [376, 111]
Text "a"
}
Annotation {
Position [54, 232]
Text "c6fstr2.mdl"
FontName "Arial"
FontSize 12
FontWeight "bold"
}
}
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -