📄 landinggear.mdl
字号:
Location [665, 175, 970, 277]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Reference
Name "Body"
Ports [0, 0, 0, 0, 0, 1, 1]
Position [80, 30, 140, 70]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Bodies/Body"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "workingframe"
RightPortType "workingframe"
LConnTagsString "CS1"
RConnTagsString "CS2"
ClassName "Body"
DialogClass "MechanicalBodyBlock"
Mass "rho*pi*(ro*ro-ri*ri)*h"
MassUnits "kg"
InertiaUnits "kg*m^2"
Inertia "rho*pi*(ro*ro-ri*ri)*h*([(3*ro*ro + h*h"
") 0 0;0 6*ro*ro 0;0 0 (3*ro*ro + h*h)]-[(3*ri*ri + h*h) 0 0;0 6*ri*ri 0;0 0 ("
"3*ri*ri + h*h)])/12"
Shape "Cylinder"
ShapeDims "[1 1]"
ShapeUnits "m"
ShapeUse "false"
Density "1"
DensityUnits "kg/m^3"
DensityUse "false"
CG "Left$CG$[0 h/2 0]$CS1$CS1$m$[0 0 0]$EUL"
"ER X-Y-Z$deg$CS1$false"
WorkingFrames "Left$CS1$[0 lic 0]$ADJOINING$ADJOINING$"
"m$rot$EULER X-Y-Z$deg$ADJOINING$true#Right$CS2$[0 h/2 0]$CG$CG$m$[0 0 0]$EULE"
"R X-Y-Z$deg$CG$true"
}
Block {
BlockType Reference
Name "Disassembled Spherical"
Ports [0, 0, 0, 0, 0, 1, 1]
Position [170, 25, 220, 75]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Joints/Disassembled Joints/Disa"
"ssembled Spherical"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "disassembled_spherical_joint"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0"
RConnTagsString "__newr0"
DialogClass "JointBlock"
Primitives "prismatic_prismatic"
PrimitiveProps "Base$WORLD$[1 0 0]$prismatic#Follower$W"
"ORLD$[0 1 0]$prismatic"
ClassName "DisassembledSpherical"
BaseAxis "[1 0 0]"
FollowerAxis "[0 1 0]"
}
Block {
BlockType PMIOPort
Name "Adj CS"
Position [25, 43, 55, 57]
Port "1"
Side "Left"
}
Block {
BlockType PMIOPort
Name "Dis Sph"
Position [250, 43, 280, 57]
Orientation "left"
Port "2"
Side "Right"
}
Line {
LineType "Connection"
SrcBlock "Dis Sph"
SrcPort RConn1
DstBlock "Disassembled Spherical"
DstPort RConn1
}
Line {
LineType "Connection"
SrcBlock "Adj CS"
SrcPort RConn1
Points [0, 0]
DstBlock "Body"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Body"
SrcPort RConn1
DstBlock "Disassembled Spherical"
DstPort LConn1
}
}
}
Block {
BlockType Reference
Name "Joint Actuator"
Ports [1, 0, 0, 0, 0, 0, 1]
Position [655, 130, 695, 170]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Sensors & \nActuators/Joint Actuato"
"r"
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"
PhysicalDomain "Mechanical"
PortType "blob"
ActuationStyle "Force"
AngleUnits "deg"
ArcVelocityUnits "deg/s"
ArcAccelerationUnits "deg/s^2"
CoordPositionUnits "m"
VelocityUnits "m/s"
AccelerationUnits "m/s^2"
ForceUnits "N"
TorqueUnits "N-m"
ActiveIO "on"
Width "1"
ClassName "JointActuator"
DialogClass "MechanicalActuatorBlock"
Primitive "P1"
ReferenceFrame "Absolute (World)"
}
Block {
BlockType Reference
Name "Joint Sensor"
Ports [0, 1, 0, 0, 0, 1]
Position [425, 115, 465, 155]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Sensors & \nActuators/Joint Sensor"
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"
PhysicalDomain "Mechanical"
PortType "blob"
Muxed "on"
Pose "off"
Angle "on"
AngleUnits "deg"
ArcVelocity "off"
ArcVelocityUnits "deg/s"
ArcAcceleration "off"
ArcAccelerationUnits "deg/s^2"
CoordPosition "on"
CoordPositionUnits "m"
Velocity "off"
VelocityUnits "m/s"
Acceleration "off"
AccelerationUnits "m/s^2"
Quaternion "on"
QuaternionDT "off"
QuaternionDDT "off"
QuaternionUnits "off"
OutputVector "[1]"
ActiveIO "on"
Width "1"
ClassName "JointSensor"
DialogClass "MechanicalSensorBlock"
Primitive "P1"
Force "off"
ForceUnits "N"
Torque "off"
TorqueUnits "N-m"
ReferenceFrame "Absolute (World)"
ReactionSensedSide "Base"
ReactionReferenceFrame "Absolute (World)"
ReactionForce "off"
ReactionForceUnits "N"
ReactionMoment "off"
ReactionMomentUnits "N-m"
}
Block {
BlockType SubSystem
Name "Outer Cylinder"
Ports [0, 0, 0, 0, 0, 1, 1]
Position [180, 28, 295, 72]
AncestorBlock "ElectricalMechanicalComponents/Links/Ported"
" Cylindrical Link"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskPromptString "Outer Radius (m)|Inner Radius (m)|Height [Y"
"] (m)|Material Density (kg/m^3)|Euler XYZ "
MaskStyleString "edit,edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on,on"
MaskCallbackString "||||"
MaskEnableString "on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on"
MaskToolTipString "on,on,on,on,on"
MaskVarAliasString ",,,,"
MaskVariables "ro=@1;ri=@2;h=@3;rho=@4;rot=@5;"
MaskInitialization "mass = rho*pi*(ro*ro-ri*ri)*h;\ninertia = m"
"ass*([(3*ro*ro + h*h) 0 0;0 6*ro*ro 0;0 0 (3*ro*ro + h*h)]-[(3*ri*ri + h*h) 0"
" 0;0 6*ri*ri 0;0 0 (3*ri*ri + h*h)])/12;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "ROO|RIO|h_seg|rho|[0 0 165]"
MaskTabNameString ",,,,"
System {
Name "Outer Cylinder"
Location [665, 175, 970, 277]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Reference
Name "Body"
Ports [0, 0, 0, 0, 0, 1, 1]
Position [80, 30, 140, 70]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Bodies/Body"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "workingframe"
RightPortType "workingframe"
LConnTagsString "CS1"
RConnTagsString "CS2"
ClassName "Body"
DialogClass "MechanicalBodyBlock"
Mass "rho*pi*(ro*ro-ri*ri)*h"
MassUnits "kg"
InertiaUnits "kg*m^2"
Inertia "rho*pi*(ro*ro-ri*ri)*h*([(3*ro*ro + h*h"
") 0 0;0 6*ro*ro 0;0 0 (3*ro*ro + h*h)]-[(3*ri*ri + h*h) 0 0;0 6*ri*ri 0;0 0 ("
"3*ri*ri + h*h)])/12"
Shape "Cylinder"
ShapeDims "[1 1]"
ShapeUnits "m"
ShapeUse "false"
Density "1"
DensityUnits "kg/m^3"
DensityUse "false"
CG "Left$CG$[0 h/2 0]$CS1$CS1$m$[0 0 0]$EUL"
"ER X-Y-Z$deg$CS1$false"
WorkingFrames "Left$CS1$[0 0 0]$ADJOINING$ADJOINING$m$"
"rot$EULER X-Y-Z$deg$ADJOINING$true#Right$CS2$[0 h/2 0]$CG$CG$m$[0 0 0]$EULER "
"X-Y-Z$deg$CG$true"
}
Block {
BlockType PMIOPort
Name "Adj CS"
Position [25, 43, 55, 57]
Port "1"
Side "Left"
}
Block {
BlockType PMIOPort
Name "CS"
Position [185, 43, 215, 57]
Orientation "left"
Port "2"
Side "Right"
}
Line {
LineType "Connection"
SrcBlock "Adj CS"
SrcPort RConn1
Points [0, 0]
DstBlock "Body"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Body"
SrcPort RConn1
DstBlock "CS"
DstPort RConn1
}
}
}
Block {
BlockType Reference
Name "Prismatic"
Ports [0, 0, 0, 0, 0, 2, 2]
Position [330, 37, 380, 88]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Joints/Prismatic"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0|SA1"
RConnTagsString "__newr0|SA1"
NumSAPorts "2"
CutJoint "off"
MarkAsCut "off"
Primitives "prismatic"
PrimitiveProps "P1$Base$[0 1 0] $prismatic"
ClassName "Joint"
DialogClass "JointBlock"
}
Block {
BlockType Reference
Name "Revolute1"
Ports [0, 0, 0, 0, 0, 1, 1]
Position [100, 25, 150, 75]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Joints/Revolute"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0"
RConnTagsString "__newr0"
NumSAPorts "0"
CutJoint "off"
MarkAsCut "off"
Primitives "revolute"
PrimitiveProps "R1$WORLD$[0 0 1]$revolute"
ClassName "Joint"
DialogClass "JointBlock"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [1, 1, 0, 0, 0, 1]
Position [520, 123, 605, 172]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Subsystem"
Location [250, 254, 858, 580]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Velocity"
Position [320, 33, 350, 47]
IconDisplay "Port number"
}
Block {
BlockType Reference
Name "Ideal Force Sensor"
Tag "Factory Generic"
Ports [0, 0, 0, 0, 0, 1, 2]
Position [335, 125, 375, 165]
DialogController "NetworkEngine.DynNeDlgSource"
SourceBlock "fl_lib/Mechanical/Mechanical Sensors\na"
"nd Sources/Ideal Force Sensor"
SourceType "Ideal Force Sensor"
ShowPortLabels on
⌨️ 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 + -