landinggear.mdl

来自「Physics-Based Modeling Methods Improve C」· MDL 代码 · 共 1,979 行 · 第 1/5 页

MDL
1,979 行
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	    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
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landinggear.mdl - 源码说明

本页面展示了「Physics-Based Modeling Methods Improve Control System Design Multidomain systems (mechanical, electr」中的 landinggear.mdl 源码文件，采用 MDL 编程语言编写，共 1,979 行代码。您可以在线阅读完整代码内容，也可以返回资源详情页下载完整源码包进行本地学习和开发。

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