scdlens_control.mdl

对控制系统仿真设计的研究,MATLAB仿真程序实现,附有文本说明

      Name		      "Machine\nEnvironment"
      Tag		      "Factory ground"
      Ports		      [0, 0, 0, 0, 0, 0, 1]
      Position		      [95, 50, 135, 70]
      DialogController	      "MECH.DialogSource"
      SourceBlock	      "mblibv1/Bodies/Machine\nEnvironment"
      SourceType	      "Mechanical"
      ShowPortLabels	      on
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      PortType		      "env"
      PhysicalDomain	      "Mechanical"
      ClassName		      "Environment"
      DialogTemplateClass     "MECH.MachineEnvironment"
      SyncWhenCopied	      "off"
      Gravity		      "[0 -9.81 0]"
      GravityUnits	      "m/s^2"
      GravityAsSignal	      off
      Dimensionality	      "Auto-detect"
      AnalysisType	      "Forward dynamics"
      LinearAssemblyTolerance "1e-3"
      LinearAssemblyToleranceUnits "mm"
      AngularAssemblyTolerance "1e-3"
      AngularAssemblyToleranceUnits "deg"
      ConstraintSolverType    "Stabilizing"
      ConstraintRelTolerance  "1e-4"
      ConstraintAbsTolerance  "1e-4"
      UseRobustSingularityHandling off
      StatePerturbationType   "Fixed"
      PerturbationSize	      "1e-5"
      VisualizeMachine	      on
    }
    Block {
      BlockType		      Reference
      Name		      "Mechanical\nBranching\nBar"
      Ports		      [0, 0, 0, 0, 0, 1, 3]
      Position		      [200, 129, 210, 311]
      Orientation	      "left"
      BackgroundColor	      "black"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Utilities/Mechanical\nBranching\nBar"
      SourceType	      "msb"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "_newl0"
      RConnTagsString	      "SA0|SA1|SA2"
      ClassName		      "BranchingBar"
      DialogClass	      "MechanicalBranchingBarBlock"
      NumSAPorts	      "3"
    }
    Block {
      BlockType		      SubSystem
      Name		      "OPU system"
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [355, 18, 625, 262]
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      MaskDisplay	      "image(imread('translator_top.jpg','jpg'))\n"
      MaskIconFrame	      on
      MaskIconOpaque	      off
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"OPU system"
	Location		[113, 744, 683, 1083]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[1.270000, 1.270000, 1.270000, 1.270000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Reference
	  Name			  "Body with Lens"
	  Ports			  [0, 0, 0, 0, 0, 3, 3]
	  Position		  [150, 22, 425, 278]
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS3|CS4|CS5"
	  RConnTagsString	  "CS1|CS2|CS6"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "0.2"
	  MassUnits		  "g"
	  InertiaUnits		  "g*cm^2"
	  Inertia		  "[0 1 0 ; 1 0 0 ; 0 0 1]*[ 2 0 -0.5 ; 0 1.5 "
"0 ; -0.5 0 3 ]*[0 1 0 ; 1 0 0 ; 0 0 1]/100"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0.0 0.0 0.0 ]$WORLD$WORLD$mm$[0 0 "
"0]$Euler X-Y-Z$deg$WORLD$false"
	  WorkingFrames		  "Right$CS1$[5 0 1.5]$CS5$CS5$mm$[0 0 0]$Eule"
"r X-Y-Z$deg$WORLD$true#Right$CS2$[5 0 -1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$de"
"g$WORLD$true#Left$CS3$[-5 0 1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$tru"
"e#Left$CS4$[-5 0 -1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$true#Left$CS5"
"$[0 0 0]$WORLD$WORLD$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$true#Right$CS6$[0 .2 3]"
"$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$true#Right$CS7$[-4 -4 -1.5]$CS5$CS5"
"$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$false#Right$CS8$[-4 -4 1.5]$CS5$CS5$mm$[0 0"
" 0]$Euler X-Y-Z$deg$WORLD$false#Right$CS9$[-4 4 -1.5]$CS5$CS5$mm$[0 0 0]$Eule"
"r X-Y-Z$deg$WORLD$false#Right$CS10$[-4 4 1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$"
"deg$WORLD$false#Right$CS11$[4 -4 -1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WOR"
"LD$false#Right$CS12$[4 -4 1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$false"
"#Right$CS13$[4 4 -1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$false#Right$C"
"S14$[4 4 1.5]$CS5$CS5$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$false"
	  CGPos			  "[0.0 0.0 0.0 ]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[5 0 1.5]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "[5 0 -1.5]"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "[-5 0 1.5]"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "[-5 0 -1.5]"
	  CS4Rot		  "[0 0 0]"
	  CS5Pos		  "[0 0 0]"
	  CS5Rot		  "[0 0 0]"
	  CS6Pos		  "[0 .2 3]"
	  CS6Rot		  "[0 0 0]"
	  CS7Pos		  "[-4 -4 -1.5]"
	  CS7Rot		  "[0 0 0]"
	  CS8Pos		  "[-4 -4 1.5]"
	  CS8Rot		  "[0 0 0]"
	  CS9Pos		  "[-4 4 -1.5]"
	  CS9Rot		  "[0 0 0]"
	  CS10Pos		  "[-4 4 1.5]"
	  CS10Rot		  "[0 0 0]"
	  CS11Pos		  "[4 -4 -1.5]"
	  CS11Rot		  "[0 0 0]"
	  CS12Pos		  "[4 -4 1.5]"
	  CS12Rot		  "[0 0 0]"
	  CS13Pos		  "[4 4 -1.5]"
	  CS13Rot		  "[0 0 0]"
	  CS14Pos		  "[4 4 1.5]"
	  CS14Rot		  "[0 0 0]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Wire 1"
	  Ports			  [0, 0, 0, 0, 0, 0, 1]
	  Position		  [470, 47, 550, 83]
	  Orientation		  "left"
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  MaskPromptString	  "Ground connection position [x,y,z]|Lens con"
"nection position [x,y,z]"
	  MaskStyleString	  "edit,edit"
	  MaskTunableValueString  "on,on"
	  MaskCallbackString	  "|"
	  MaskEnableString	  "on,on"
	  MaskVisibilityString	  "on,on"
	  MaskToolTipString	  "on,on"
	  MaskVarAliasString	  ","
	  MaskVariables		  "g=@1;l=@2;"
	  MaskInitialization	  "f=(g(1)-l(1))/abs(g(2)-l(2));\nInertia=1e-3"
"*[cos(f) sin(f) 0 ; sin(f) .02*cos(f) 0 ; 0 0 1];\ncg=[l(1)+(g(1)-l(1))/2 l(2"
")+(g(2)-l(2))/2 l(3)+(g(3)-l(3))/2];\n"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "[6 -15 1.5]|[5 0 1.5]"
	  MaskTabNameString	  ","
	  System {
	    Name		    "Wire 1"
	    Location		    [50, 568, 527, 867]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    TiledPaperMargins	    [1.270000, 1.270000, 1.270000, 1.270000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Reference
	      Name		      "Body"
	      Ports		      [0, 0, 0, 0, 0, 1, 2]
	      Position		      [170, 165, 230, 205]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Bodies/Body"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "workingframe"
	      RightPortType	      "workingframe"
	      LConnTagsString	      "CS1"
	      RConnTagsString	      "CS2|CS3"
	      ClassName		      "Body"
	      DialogClass	      "MechanicalBodyBlock"
	      Mass		      "10"
	      MassUnits		      "mg"
	      InertiaUnits	      "g*cm^2"
	      Inertia		      "Inertia"
	      Shape		      "Cylinder"
	      ShapeDims		      "[1 1]"
	      ShapeUnits	      "m"
	      ShapeUse		      "false"
	      Density		      "1"
	      DensityUnits	      "kg/m^3"
	      DensityUse	      "false"
	      CG		      "Left$CG$[cg(1) cg(2) cg(3)]$WORLD$WORLD"
"$mm$[0 0 0]$Euler X-Y-Z$deg$WORLD$false"
	      WorkingFrames	      "Left$CS1$[g(1) g(2) g(3)]$WORLD$WORLD$m"
"m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true#Right$CS2$[0 0 0]$CS3$CS3$mm$[0 0 0]$Eul"
"er X-Y-Z$deg$WORLD$true#Right$CS3$[l(1) l(2) l(3)]$WORLD$WORLD$mm$[0 0 0]$Eul"
"er X-Y-Z$deg$WORLD$true"
	      CGPos		      "[cg(1) cg(2) cg(3)]"
	      CGRot		      "[0 0 0]"
	      CS0Pos		      "[]"
	      CS0Rot		      "[]"
	      CS1Pos		      "[g(1) g(2) g(3)]"
	      CS1Rot		      "[0 0 0]"
	      CS2Pos		      "[0 0 0]"
	      CS2Rot		      "[0 0 0]"
	      CS3Pos		      "[l(1) l(2) l(3)]"
	      CS3Rot		      "[0 0 0]"
	      CS4Pos		      "[]"
	      CS4Rot		      "[]"
	      CS5Pos		      "[]"
	      CS5Rot		      "[]"
	      CS6Pos		      "[]"
	      CS6Rot		      "[]"
	      CS7Pos		      "[]"
	      CS7Rot		      "[]"
	      CS8Pos		      "[]"
	      CS8Rot		      "[]"
	      CS9Pos		      "[]"
	      CS9Rot		      "[]"
	      CS10Pos		      "[]"
	      CS10Rot		      "[]"
	      CS11Pos		      "[]"
	      CS11Rot		      "[]"
	      CS12Pos		      "[]"
	      CS12Rot		      "[]"
	      CS13Pos		      "[]"
	      CS13Rot		      "[]"
	      CS14Pos		      "[]"
	      CS14Rot		      "[]"
	      CS15Pos		      "[]"
	      CS15Rot		      "[]"
	      CS16Pos		      "[]"
	      CS16Rot		      "[]"
	      CS17Pos		      "[]"
	      CS17Rot		      "[]"
	      CS18Pos		      "[]"
	      CS18Rot		      "[]"
	      CS19Pos		      "[]"
	      CS19Rot		      "[]"
	      CS20Pos		      "[]"
	      CS20Rot		      "[]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Bushing"
	      Ports		      [0, 0, 0, 0, 0, 2, 1]
	      Position		      [130, 57, 180, 108]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Bushing"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1"
	      RConnTagsString	      "__newr0"
	      NumSAPorts	      "1"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic_prismatic_prismatic_revolute_"
"revolute_revolute"
	      PrimitiveProps	      "P1$WORLD$[1 0 0]$prismatic#P2$WORLD$[0 "
"1 0]$prismatic#P3$WORLD$[0 0 1]$prismatic#R1$WORLD$[1 0 0]$revolute#R2$WORLD$"
"[0 1 0]$revolute#R3$WORLD$[0 0 1]$revolute"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	      P1Axis		      "[1 0 0]"
	      P2Axis		      "[0 1 0]"
	      P3Axis		      "[0 0 1]"
	      R1Axis		      "[1 0 0]"
	      R2Axis		      "[0 1 0]"
	      R3Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Flexure"
	      Ports		      [0, 0, 0, 0, 0, 1]
	      Position		      [25, 95, 85, 145]
	      Orientation	      "left"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Force \nElements/Joint Spring &"
" Damper"
	      SourceType	      "msb"
	      ShowPortLabels	      on
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      ClassName		      "JointSpringDamper"
	      DialogClass	      "JointSpringDamper"
	      JFEParameters	      "P1$true$20$.005$0$m$m/s$N$rad$rad/s$N-m"
"#P2$false$0$0$0$m$m/s$N$rad$rad/s$N-m#P3$true$20$.005$0$m$m/s$N$rad$rad/s$N-m"
"#R1$false$4$0$0$m$m/s$N$rad$rad/s$N-m#R2$true$6e-4$.000005$0$m$m/s$N$rad$rad/"
"s$N-m#R3$false$4$0$0$m$m/s$N$rad$rad/s$N-m#S$false$0$0$0$m$m/s$N$rad$rad/s$N-"
"m"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Gimbal"
	      Ports		      [0, 0, 0, 0, 0, 1, 1]
	      Position		      [100, 160, 150, 210]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Gimbal"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0"
	      RConnTagsString	      "__newr0"
	      NumSAPorts	      "0"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "revolute_revolute_revolute"
	      PrimitiveProps	      "R1$WORLD$[1 0 0]$revolute#R2$WORLD$[0 1"
" 0]$revolute#R3$WORLD$[0 0 1]$revolute"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	      R1Axis		      "[1 0 0]"
	      R2Axis		      "[0 1 0]"
	      R3Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Gimbal\nplus stiffness"
	      Ports		      [0, 0, 0, 0, 0, 1, 1]
	      Position		      [265, 174, 325, 216]
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      FunctionWithSeparateData off
	      MaskHideContents	      off
	      System {
		Name			"Gimbal\nplus stiffness"
		Location		[360, 315, 825, 732]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"A4"
		PaperUnits		"centimeters"
		TiledPaperMargins	"[1.270000, 1.270000, 1.270000, 1.2700"
"00]"
		TiledPageScale		1
		ShowPageBoundaries	off
		ZoomFactor		"100"
		Block {
		  BlockType		  Reference
		  Name			  "Custom Joint"
		  Ports			  [0, 0, 0, 0, 0, 2, 2]
		  Position		  [210, 27, 260, 78]
		  DialogController	  "MECH.DynMechDlgSource"
		  SourceBlock		  "mblibv1/Joints/Custom Joint"
		  SourceType		  "msb"
		  PhysicalDomain	  "mechanical"
		  SubClassName		  "custom_joint"
		  LeftPortType		  "blob"
		  RightPortType		  "blob"
		  LConnTagsString	  "__newl0|SA1"
		  RConnTagsString	  "__newr0|SA1"
		  NumSAPorts		  "2"
		  CutJoint		  "off"
		  MarkAsCut		  "off"
		  Primitives		  "revolute_revolute_prismatic"
		  PrimitiveProps	  "R1$WORLD$[1 0 0]$revolute#R3$WORLD$"
"[0 0 1]$revolute#P1$WORLD$[0 1 0]$prismatic"
		  ClassName		  "Joint"
		  DialogClass		  "JointBlock"
		  R1Axis		  "[1 0 0]"
		  R2Axis		  "[]"
		  R3Axis		  "[0 0 1]"
		  P1Axis		  "[0 1 0]"
		  P2Axis		  "[]"
		  P3Axis		  "[]"
		  SAxis			  "[]"
		}
		Block {
		  BlockType		  Gain
		  Name			  "Damping"
		  Position		  [210, 258, 275, 292]
		  Orientation		  "left"
		  Gain			  "-1"