📄 filhlw.mdl
字号:
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Product
Inputs "2"
Multiplication "Element-wise(.*)"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Scope
Floating off
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType UniformRandomNumber
Minimum "-1"
Maximum "1"
Seed "0"
SampleTime "-1"
VectorParams1D on
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "filhlw"
Location [2, 74, 790, 555]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Kalman Filter"
Ports [1, 2]
Position [240, 195, 340, 270]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskPromptString "Mask Parameter 1:"
MaskStyleString "popup(initailization)"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskToolTipString "on"
MaskInitialization "fildata;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "initailization"
System {
Name "Kalman Filter"
Location [2, 74, 790, 555]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "z(k+1)"
Position [30, 158, 60, 172]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Gain
Name "H(k+1)"
Position [145, 243, 200, 277]
Orientation "left"
Gain "Cf"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "Phi(k+1,k)"
Position [310, 242, 365, 278]
Orientation "left"
Gain "Af"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [150, 141, 195, 174]
Multiplication "Matrix(*)"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [0, 2]
Position [25, 29, 100, 96]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Subsystem"
Location [39, 122, 635, 420]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [280, 235, 320, 275]
Orientation "left"
NamePlacement "alternate"
X0 "P0"
}
Block {
BlockType SubSystem
Name "equ.(3)"
Ports [1, 1]
Position [260, 36, 340, 84]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "equ.(3)"
Location [212, 111, 767, 292]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "P(k+1,k)"
Position [25, 63, 55, 77]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Gain
Name "H(k+1)"
Position [90, 55, 120, 85]
Gain "Cf"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "H(k+1)T"
Position [150, 55, 180, 85]
Gain "Cf'"
Multiplication "Matrix(u*K)"
}
Block {
BlockType Gain
Name "H(k+1)T1"
Position [365, 55, 395, 85]
Gain "Cf'"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [430, 26, 475, 59]
Multiplication "Matrix(*)"
}
Block {
BlockType Constant
Name "R(k+1)"
Position [150, 125, 180, 155]
Value "Rf"
VectorParams1D off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [225, 60, 245, 80]
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType MATLABFcn
Name "inv(u)"
Position [280, 55, 340, 85]
MATLABFcn "inv(u)"
Output1D off
}
Block {
BlockType Outport
Name "K(k+1)"
Position [500, 38, 530, 52]
IconDisplay "Port number"
}
Line {
SrcBlock "P(k+1,k)"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, -35]
DstBlock "Product"
DstPort 1
}
Branch {
DstBlock "H(k+1)"
DstPort 1
}
}
Line {
SrcBlock "H(k+1)"
SrcPort 1
DstBlock "H(k+1)T"
DstPort 1
}
Line {
SrcBlock "H(k+1)T"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "R(k+1)"
SrcPort 1
Points [50, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "inv(u)"
DstPort 1
}
Line {
SrcBlock "inv(u)"
SrcPort 1
DstBlock "H(k+1)T1"
DstPort 1
}
Line {
SrcBlock "H(k+1)T1"
SrcPort 1
Points [5, 0; 0, -20]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "K(k+1)"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "equ.(4)"
Ports [1, 1]
Position [90, 38, 165, 82]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "equ.(4)"
Location [191, 237, 536, 389]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "P(k,k)"
Position [25, 33, 55, 47]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Constant
Name "Qk"
Position [45, 95, 75, 125]
Value "Qf"
VectorParams1D off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [245, 30, 265, 50]
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType Gain
Name "gamak"
Position [110, 95, 140, 125]
Gain "Bf"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "gamakT"
Position [170, 95, 200, 125]
Gain "Bf'"
Multiplication "Matrix(u*K)"
}
Block {
BlockType Gain
Name "phi(k+1,k)"
Position [80, 25, 110, 55]
Gain "Af"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "phi(k+1,k)T"
Position [140, 25, 170, 55]
Gain "Af'"
Multiplication "Matrix(u*K)"
}
Block {
BlockType Outport
Name "P(k+1,k)"
Position [290, 33, 320, 47]
IconDisplay "Port number"
}
Line {
SrcBlock "Qk"
SrcPort 1
DstBlock "gamak"
DstPort 1
}
Line {
SrcBlock "gamak"
SrcPort 1
DstBlock "gamakT"
DstPort 1
}
Line {
SrcBlock "phi(k+1,k)"
SrcPort 1
DstBlock "phi(k+1,k)T"
DstPort 1
}
Line {
SrcBlock "phi(k+1,k)T"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "gamakT"
SrcPort 1
Points [50, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "P(k,k)"
SrcPort 1
DstBlock "phi(k+1,k)"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "P(k+1,k)"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "equ.(5)"
Ports [2, 1]
Position [405, 27, 500, 163]
⌨️ 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 + -