📄 car1.mdl
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After "1"
}
Block {
BlockType Step
Name "Step Input2"
Position [110, 145, 130, 165]
Time "35"
Before "0"
After "1"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [220, 115, 240, 135]
Inputs "++"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1, 0, 0, 0]
Position [370, 100, 390, 120]
Inputs "++"
}
Block {
BlockType Sum
Name "Sum2"
Ports [3, 1, 0, 0, 0]
Position [405, 146, 425, 194]
Inputs "+--"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [590, 181, 610, 214]
Inputs "++"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [245, 357, 295, 373]
VariableName "t"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [400, 212, 450, 228]
VariableName "y"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [640, 191, 660, 209]
VariableName "a"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace4"
Position [570, 112, 620, 128]
VariableName "a1"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace5"
Position [240, 262, 290, 278]
VariableName "u"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace6"
Position [505, 347, 555, 363]
VariableName "e"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace7"
Position [505, 387, 555, 403]
VariableName "ed"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace8"
Position [450, 62, 500, 78]
VariableName "y1"
Buffer "100000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn4"
Position [265, 96, 355, 134]
Numerator "[4]"
Denominator "[1 2*0.7*2 4]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn5"
Position [200, 202, 300, 238]
Numerator "[4]"
Denominator "[1 2*0.7*2 4]"
}
Line {
SrcBlock "Saturation4"
SrcPort 1
Points [-20, 0; 0, -50]
Branch {
Points [0, 10]
DstBlock "To Workspace5"
DstPort 1
}
Branch {
Points [0, -40]
DstBlock "Transfer Fcn5"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [5, 0]
DstBlock "Transfer Fcn4"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [-15, 0]
Branch {
Points [0, 100]
DstBlock "To Workspace7"
DstPort 1
}
Branch {
Points [-15, 0]
DstBlock "Cartesian to Polar"
DstPort 2
}
}
Line {
SrcBlock "Fcn7"
SrcPort 1
Points [-5, 0]
Branch {
DstBlock "To Workspace6"
DstPort 1
}
Branch {
DstBlock "Cartesian to Polar"
DstPort 1
}
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "Step Input"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Step Input1"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Step Input2"
SrcPort 1
Points [10, 0; 0, -5]
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn4"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [145, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Fcn5"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn5"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "To Workspace2"
DstPort 1
}
Branch {
DstBlock "Fcn6"
DstPort 1
}
}
Line {
SrcBlock "Fcn6"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "Integrator2"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Integrator3"
SrcPort 1
Points [15, 0; 0, 10]
Branch {
Points [0, 20; -130, 0; 0, 15]
DstBlock "Sum2"
DstPort 1
}
Branch {
DstBlock "To Workspace4"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fuzzy Logic Controller"
DstPort 1
}
Line {
SrcBlock "Fcn8"
SrcPort 1
Points [0, -15]
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [10, 0; 0, -10]
DstBlock "Sum2"
DstPort 3
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Fcn5"
DstPort 1
}
Branch {
Points [5, -40]
DstBlock "To Workspace8"
DstPort 1
}
}
Line {
SrcBlock "Cartesian to Polar"
SrcPort 1
Points [0, 5]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Cartesian to Polar"
SrcPort 2
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Gain7"
SrcPort 1
DstBlock "Saturation4"
DstPort 1
}
Line {
SrcBlock "Fuzzy Logic Controller"
SrcPort 1
Points [-20, 0; 0, 35]
DstBlock "Gain7"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [127, 0; 0, 20]
Branch {
Points [0, 70]
Branch {
DstBlock "Fcn7"
DstPort 1
}
Branch {
Points [43, 0]
DstBlock "Fcn8"
DstPort 1
}
}
Branch {
DstBlock "Sum3"
DstPort 1
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
}
}
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