distributed.mdl

用于网络控制系统仿真

	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  4
	  Points		  [0, 15]
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Node 2\n(Actuator)"
      Ports		      [1, 1]
      Position		      [272, 120, 328, 165]
      Orientation	      "up"
      BackgroundColor	      "lightBlue"
      NamePlacement	      "alternate"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      System {
	Name			"Node 2\n(Actuator)"
	Location		[383, 464, 730, 614]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Rcv"
	  Position		  [30, 83, 60, 97]
	  Port			  "1"
	  LatchInput		  off
	  Interpolate		  on
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground"
	  Position		  [20, 55, 40, 75]
	  ShowName		  off
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground1"
	  Position		  [20, 30, 40, 50]
	  ShowName		  off
	}
	Block {
	  BlockType		  Scope
	  Name			  "Schedule, actuator node"
	  Ports			  [1]
	  Position		  [275, 64, 300, 86]
	  Floating		  off
	  Location		  [83, 518, 897, 977]
	  Open			  off
	  NumInputPorts		  "1"
	  TickLabels		  "on"
	  ZoomMode		  "xonly"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  List {
	    ListType		    SelectedSignals
	    axes1		    ""
	  }
	  Grid			  "on"
	  TimeRange		  "0.6"
	  YMin			  "0.8"
	  YMax			  "3.7"
	  SaveToWorkspace	  off
	  SaveName		  "ScopeData"
	  DataFormat		  "Array"
	  LimitDataPoints	  off
	  MaxDataPoints		  "5000"
	  Decimation		  "1"
	  SampleInput		  off
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator"
	  Position		  [225, 85, 245, 105]
	  ShowName		  off
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator1"
	  Position		  [225, 45, 245, 65]
	  ShowName		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "TrueTime Kernel"
	  Ports			  [3, 5]
	  Position		  [80, 27, 195, 103]
	  DropShadow		  on
	  SourceBlock		  "truetime/TrueTime Kernel"
	  SourceType		  "Unknown"
	  sfun			  "actuator_init"
	  args			  "0"
	  battery		  "off"
	  clockdrift		  "0"
	  clockoffset		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "D/A"
	  Position		  [270, 28, 300, 42]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Ground1"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rcv"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Ground"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  2
	}
	Line {
	  Labels		  [1, 0]
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  1
	  DstBlock		  "D/A"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  2
	  Points		  [0, 5]
	  DstBlock		  "Terminator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  3
	  Points		  [0, 10]
	  DstBlock		  "Schedule, actuator node"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  4
	  Points		  [0, 15]
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Node 3\n(Controller)"
      Ports		      [2, 1]
      Position		      [426, 280, 484, 325]
      Orientation	      "up"
      BackgroundColor	      "lightBlue"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      System {
	Name			"Node 3\n(Controller)"
	Location		[539, 367, 887, 510]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Rcv"
	  Position		  [15, 98, 45, 112]
	  Port			  "1"
	  LatchInput		  off
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "r"
	  Position		  [15, 28, 45, 42]
	  Port			  "2"
	  LatchInput		  off
	  Interpolate		  on
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground"
	  Position		  [20, 60, 40, 80]
	  ShowName		  off
	}
	Block {
	  BlockType		  Scope
	  Name			  "Schedule, computer node"
	  Ports			  [1]
	  Position		  [270, 68, 295, 92]
	  Floating		  off
	  Location		  [276, 407, 1016, 653]
	  Open			  off
	  NumInputPorts		  "1"
	  TickLabels		  "OneTimeTick"
	  ZoomMode		  "xonly"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  List {
	    ListType		    SelectedSignals
	    axes1		    ""
	  }
	  Grid			  "on"
	  TimeRange		  "0.6"
	  YMin			  "0.8"
	  YMax			  "4.7"
	  SaveToWorkspace	  on
	  SaveName		  "schedule"
	  DataFormat		  "StructureWithTime"
	  LimitDataPoints	  off
	  MaxDataPoints		  "5000"
	  Decimation		  "1"
	  SampleInput		  off
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator"
	  Position		  [235, 90, 255, 110]
	  ShowName		  off
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator1"
	  Position		  [270, 30, 290, 50]
	  ShowName		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "TrueTime Kernel"
	  Ports			  [3, 5]
	  Position		  [85, 32, 200, 108]
	  DropShadow		  on
	  SourceBlock		  "truetime/TrueTime Kernel"
	  SourceType		  "Unknown"
	  sfun			  "controller_init"
	  args			  "0"
	  battery		  "off"
	  clockdrift		  "0"
	  clockoffset		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Snd"
	  Position		  [230, 53, 260, 67]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  2
	  Points		  [0, 5]
	  DstBlock		  "Snd"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Ground"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "r"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rcv"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  3
	  Points		  [0, 10]
	  DstBlock		  "Schedule, computer node"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  1
	  DstBlock		  "Terminator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  4
	  Points		  [0, 15]
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Node 4\n(Sensor)"
      Ports		      [1, 1]
      Position		      [502, 120, 558, 165]
      Orientation	      "down"
      BackgroundColor	      "lightBlue"
      NamePlacement	      "alternate"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      System {
	Name			"Node 4\n(Sensor)"
	Location		[791, 362, 1126, 511]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "A/D"
	  Position		  [15, 28, 45, 42]
	  Port			  "1"
	  LatchInput		  off
	  Interpolate		  on
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground"
	  Position		  [20, 55, 40, 75]
	  ShowName		  off
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground1"
	  Position		  [20, 80, 40, 100]
	  ShowName		  off
	}
	Block {
	  BlockType		  Scope
	  Name			  "Schedule, sensor node"
	  Ports			  [1]
	  Position		  [265, 64, 290, 86]
	  Floating		  off
	  Location		  [38, 422, 852, 881]
	  Open			  off
	  NumInputPorts		  "1"
	  TickLabels		  "on"
	  ZoomMode		  "xonly"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  List {
	    ListType		    SelectedSignals
	    axes1		    ""
	  }
	  Grid			  "on"
	  TimeRange		  "0.6"
	  YMin			  "0.8"
	  YMax			  "3.7"
	  SaveToWorkspace	  off
	  SaveName		  "ScopeData"
	  DataFormat		  "Array"
	  LimitDataPoints	  off
	  MaxDataPoints		  "5000"
	  Decimation		  "1"
	  SampleInput		  off
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator"
	  Position		  [225, 85, 245, 105]
	  ShowName		  off
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator1"
	  Position		  [270, 30, 290, 50]
	  ShowName		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "TrueTime Kernel"
	  Ports			  [3, 5]
	  Position		  [85, 27, 200, 103]
	  DropShadow		  on
	  SourceBlock		  "truetime/TrueTime Kernel"
	  SourceType		  "Unknown"
	  sfun			  "sensor_init"
	  args			  "0"
	  battery		  "off"
	  clockdrift		  "0"
	  clockoffset		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Snd"
	  Position		  [225, 48, 255, 62]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  4
	  Points		  [0, 15]
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  3
	  Points		  [0, 10]
	  DstBlock		  "Schedule, sensor node"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  2
	  Points		  [0, 5]
	  DstBlock		  "Snd"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  1
	  Points		  [0, 5]
	  DstBlock		  "Terminator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Ground"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Ground1"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "A/D"
	  SrcPort		  1
	  Points		  [0, 5]
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Reference"
      Position		      [335, 390, 365, 420]
      WaveForm		      "square"
      Amplitude		      "1"
      Frequency		      "2"
      Units		      "Hertz"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Scope
      Name		      "r, y; u"
      Ports		      [2]
      Position		      [535, 389, 580, 431]
      Floating		      off
      Location		      [434, 449, 1031, 861]
      Open		      off
      NumInputPorts	      "2"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
	axes2			""
      }
      Grid		      "on"
      TimeRange		      "1"
      YMin		      "-2~-5"
      YMax		      "2~5"
      SaveToWorkspace	      off
      SaveName		      "y"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Display"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Network"
      SrcPort		      2
      Points		      [10, 0]
      DstBlock		      "Node 2\n(Actuator)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Node 2\n(Actuator)"
      SrcPort		      1
      Points		      [0, -40; 10, 0]
      Branch {
	DstBlock		"DC Servo"
	DstPort			1
      }
      Branch {
	DstBlock		"Goto1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Node 4\n(Sensor)"
      SrcPort		      1
      DstBlock		      "Network"
      DstPort		      4
    }
    Line {
      SrcBlock		      "DC Servo"
      SrcPort		      1
      Points		      [-5, 0; 20, 0]
      Branch {
	Points			[55, 0]
	DstBlock		"Node 4\n(Sensor)"
	DstPort			1
      }
      Branch {
	DstBlock		"Goto"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Node 3\n(Controller)"
      SrcPort		      1
      Points		      [0, -95; -45, 0]
      DstBlock		      "Network"
      DstPort		      3
    }
    Line {
      Name		      "r, y"
      Labels		      [0, 0]
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "r, y; u"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Reference"
      SrcPort		      1
      Points		      [0, 0; 40, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[0, -35; 60, 0]
	DstBlock		"Node 3\n(Controller)"
	DstPort			2
      }
    }
    Line {
      Name		      "u"
      Labels		      [-1, 0]
      SrcBlock		      "From1"
      SrcPort		      1
      DstBlock		      "r, y; u"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Node 1\n(Interference)"
      SrcPort		      1
      DstBlock		      "Network"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Network"
      SrcPort		      3
      Points		      [0, 100; 30, 0]
      DstBlock		      "Node 3\n(Controller)"
      DstPort		      1
    }
    Annotation {
      Position		      [191, 321]
      Text		      "TrueTime 1.5  Distributed Control System\nCopyr"
"ight (c) 2007\nMartin Ohlin, Dan Henriksson and Anton Cervin\nDepartment of A"
"utomatic Control, Lund University, Sweden\nPlease direct questions and bug re"
"ports to:  [e-mail] "
    }
  }
}