📄 car1.mdl
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Model {
Name "car1"
Version 2.09
SimParamPage Solver
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
PaperOrientation landscape
PaperType usletter
PaperUnits inches
StartTime "0.0"
StopTime "45"
Solver ode5
RelTol "1e-3"
AbsTol "1e-3"
Refine "1"
MaxStep "0.01"
InitialStep "auto"
FixedStep "0.01"
MaxOrder 5
OutputOption RefineOutputTimes
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
LimitMaxRows off
MaxRows "1000"
Decimation "1"
AlgebraicLoopMsg warning
MinStepSizeMsg warning
UnconnectedInputMsg warning
UnconnectedOutputMsg warning
UnconnectedLineMsg warning
ConsistencyChecking off
ZeroCross on
SimulationMode normal
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_vc.tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
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 "car1"
Location [63, 77, 766, 527]
Open on
ScreenColor white
Block {
BlockType SubSystem
Name "Cartesian to Polar"
Ports [2, 2, 0, 0, 0]
Position [430, 251, 450, 289]
Orientation left
ShowPortLabels off
MaskType "[x,y]->[r,theta]"
MaskDescription "Tranformation from cartesian to polar\ncoordinat"
"es.\nr=sqrt(x^2+y^2), theta=atan(y/x)"
MaskHelp "Unmask this block for more help."
MaskDisplay "plot(0,0,100,100,[24,20,15,20,20],[85,95,85,95,2"
"0],[80,20,95,85,95,85],[70,20,20,15,20,24],[56,5"
"6,55,52,50,46],[20,26,31,35,38,42])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "Cartesian to Polar"
Location [0, 0, 359, 206]
Open off
ScreenColor white
Block {
BlockType Inport
Name "x"
Position [20, 70, 40, 90]
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "y"
Position [20, 129, 40, 151]
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [75, 96, 105, 129]
Inputs "2"
}
Block {
BlockType Fcn
Name "x->r"
Position [155, 72, 260, 98]
Expr "hypot(u[1],u[2])"
}
Block {
BlockType Fcn
Name "x->theta"
Position [160, 129, 265, 151]
Expr "atan2(u[2],u[1])"
}
Block {
BlockType Outport
Name "r"
Position [295, 75, 315, 95]
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Block {
BlockType Outport
Name "theta"
Position [295, 130, 315, 150]
Port "2"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "x->theta"
SrcPort 1
DstBlock "theta"
DstPort 1
}
Line {
SrcBlock "y"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "x"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "x->r"
SrcPort 1
DstBlock "r"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -30]
DstBlock "x->r"
DstPort 1
}
Branch {
Points [0, 25]
DstBlock "x->theta"
DstPort 1
}
}
Annotation {
Position [167, 37]
VerticalAlignment top
Text "Cartesian to Polar"
}
}
}
Block {
BlockType Clock
Name "Clock"
Position [160, 355, 180, 375]
Location [30, 40, 140, 75]
}
Block {
BlockType Constant
Name "Constant"
Position [345, 185, 365, 205]
Value "30"
}
Block {
BlockType Constant
Name "Constant1"
Position [515, 195, 535, 215]
Value "30"
}
Block {
BlockType Derivative
Name "Derivative"
Position [500, 285, 530, 305]
Orientation left
}
Block {
BlockType Fcn
Name "Fcn5"
Position [415, 102, 440, 118]
Expr "u*1000/3600"
}
Block {
BlockType Fcn
Name "Fcn6"
Position [320, 162, 345, 178]
Expr "u*1000/3600"
}
Block {
BlockType Fcn
Name "Fcn7"
Position [500, 252, 525, 268]
Orientation left
Expr "u/20"
}
Block {
BlockType Fcn
Name "Fcn8"
Position [560, 302, 585, 318]
Orientation left
Expr "u/20"
}
Block {
BlockType S-Function
Name "Fuzzy Logic Controller"
Ports [1, 1, 0, 0, 0]
Position [345, 254, 370, 296]
Orientation left
FunctionName "sffis"
Parameters "fismatrix"
MaskType "FIS"
MaskDescription "FIS"
MaskHelp "Fuzzy Inference System"
MaskPromptString "FIS Matrix:"
MaskStyleString "edit"
MaskInitialization "fismatrix = @1;"
MaskDisplay "plot(0, -0.3, 6, -0.3, 0, 1.2, 6, 1.2, [0 "
"6], [0 0], [1 2 3],[0 1 0],[2 3 4],[0 1 0],[3 "
"4 5],[0 1 0])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
MaskValueString "pidf"
}
Block {
BlockType Gain
Name "Gain"
Position [175, 67, 200, 93]
Gain "90"
}
Block {
BlockType Gain
Name "Gain1"
Position [175, 102, 200, 128]
Gain "20"
}
Block {
BlockType Gain
Name "Gain2"
Position [175, 137, 200, 163]
Gain "-40"
}
Block {
BlockType Gain
Name "Gain7"
Position [265, 297, 290, 323]
Orientation left
Gain "500"
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1, 0, 0, 0]
Position [360, 160, 380, 180]
ExternalReset none
InitialConditionSource internal
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1, 0, 0, 0]
Position [470, 100, 490, 120]
ExternalReset none
InitialConditionSource internal
InitialCondition "200"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [390, 255, 405, 290]
Orientation left
Inputs "2"
}
Block {
BlockType Saturate
Name "Saturation4"
Position [170, 298, 200, 322]
Orientation left
UpperLimit "200"
LowerLimit "0"
}
Block {
BlockType Step
Name "Step Input"
Position [110, 70, 130, 90]
Time "0"
Before "0"
After "1"
}
Block {
BlockType Step
Name "Step Input1"
Position [110, 105, 130, 125]
Time "25"
Before "0"
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