📄 hdd_noinst.mdl
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Position [235, 29, 335, 71]
}
Block {
BlockType SubSystem
Name "If Action\nSubsystem"
Ports [1, 1, 0, 0, 0, 0, 0, 1]
Position [380, 87, 450, 123]
TreatAsAtomicUnit on
System {
Name "If Action\nSubsystem"
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Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
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BlockType Inport
Name "In1"
Position [75, 78, 105, 92]
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Block {
BlockType ActionPort
Name "Action Port"
Position [170, 15, 229, 43]
ActionType "then"
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Block {
BlockType Outport
Name "Out1"
Position [325, 78, 355, 92]
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Line {
SrcBlock "In1"
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Block {
BlockType SubSystem
Name "If Action\nSubsystem1"
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Position [380, 172, 450, 208]
TreatAsAtomicUnit on
System {
Name "If Action\nSubsystem1"
Location [342, 471, 840, 771]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [75, 78, 105, 92]
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Block {
BlockType ActionPort
Name "Action Port"
Position [170, 15, 229, 43]
ActionType "else"
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Block {
BlockType Outport
Name "Out1"
Position [325, 78, 355, 92]
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DstBlock "Out1"
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Block {
BlockType Merge
Name "Merge"
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Position [500, 130, 540, 170]
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Block {
BlockType Sum
Name "Sum1"
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Position [775, 215, 795, 235]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [175, 95, 195, 115]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
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Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [640, 140, 660, 160]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
Port {
PortNumber 1
Name "xD"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
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Block {
BlockType UnitDelay
Name "Unit Delay"
Position [115, 85, 150, 125]
SampleTime "0.01"
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Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [712, 170, 748, 210]
Orientation "down"
NamePlacement "alternate"
SampleTime "-1"
Port {
PortNumber 1
Name "component level"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [115, 151, 150, 189]
SampleTime "0.01"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [640, 311, 675, 349]
SampleTime "0.01"
}
Block {
BlockType Outport
Name "Out"
Position [885, 218, 915, 232]
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Line {
SrcBlock "Unit Delay"
SrcPort 1
DstBlock "Sum2"
DstPort 1
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Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -55]
DstBlock "If"
DstPort 1
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Branch {
DstBlock "If Action\nSubsystem"
DstPort 1
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Line {
SrcBlock "If"
SrcPort 1
Points [75, 0]
DstBlock "If Action\nSubsystem"
DstPort ifaction
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Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "If Action\nSubsystem1"
DstPort 1
}
Line {
SrcBlock "If"
SrcPort 2
Points [20, 0; 0, 95; 55, 0]
DstBlock "If Action\nSubsystem1"
DstPort ifaction
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Line {
SrcBlock "If Action\nSubsystem"
SrcPort 1
Points [20, 0; 0, 35]
DstBlock "Merge"
DstPort 1
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Line {
SrcBlock "If Action\nSubsystem1"
SrcPort 1
Points [20, 0; 0, -30]
DstBlock "Merge"
DstPort 2
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Line {
SrcBlock "Merge"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Sum4"
DstPort 2
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Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Sum4"
DstPort 1
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Line {
Name "xD"
Labels [0, 0]
SrcBlock "Sum4"
SrcPort 1
Points [65, 0]
DstBlock "Unit Delay1"
DstPort 1
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Line {
Name "component level"
Labels [2, 0]
SrcBlock "Unit Delay1"
SrcPort 1
Points [0, 0; 0, 10]
Branch {
DstBlock "Gain2"
DstPort 1
}
Branch {
DstBlock "Sum1"
DstPort 1
}
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Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
Points [30, 0]
DstBlock "Sum2"
DstPort 2
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Line {
SrcBlock "In"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Unit Delay"
DstPort 1
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Branch {
Points [0, 65]
DstBlock "Zero-Order\nHold"
DstPort 1
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Out"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
Points [105, 0]
DstBlock "Sum1"
DstPort 2
}
}
}
Block {
BlockType Constant
Name "DC Drive signal"
Position [465, 185, 495, 215]
Orientation "left"
Value "2"
}
Block {
BlockType DiscretePulseGenerator
Name "Friction disturbance"
Position [605, 473, 650, 507]
Orientation "left"
AttributesFormatString "A = %<Amplitude>"
PulseType "Time based"
Amplitude "0.01"
Period "50"
PulseWidth "50"
PhaseDelay "25"
Port {
PortNumber 1
Name "disturb"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Constant
Name "Friction/back emf coeff"
Position [500, 520, 530, 550]
Orientation "up"
NamePlacement "alternate"
Value "-0.1"
}
Block {
BlockType From
Name "From3"
Position [470, 445, 535, 465]
Orientation "left"
CloseFcn "tagdialog Close"
GotoTag "ang_vel"
Port {
PortNumber 1
PropagatedSignals "ang vel"
ShowPropagatedSignals "on"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Gain
Name "Gain"
Position [480, 230, 510, 260]
Orientation "left"
Gain "lgain"
}
Block {
BlockType Reference
Name "Ground"
Tag "__orphan__"
Ports [0, 0, 0, 0, 0, 0, 1]
Position [130, 230, 170, 270]
Orientation "up"
ForegroundColor "yellow"
NamePlacement "alternate"
SourceBlock "mblibv1/Bodies/Ground"
SourceType "msb"
PortType "workingframe"
PhysicalDomain "Mechanical"
DialogClass "GroundBlock"
ClassName "Ground"
CoordPosition "[0 0 0]"
CoordPositionUnits "m"
StateVectorMgrId "-1"
}
Block {
BlockType Ground
Name "Ground1"
Position [330, 275, 350, 295]
Orientation "left"
}
Block {
BlockType Reference
Name "Joint Stiction Actuator"
Tag "__orphan__"
Ports [5, 0, 0, 0, 0, 0, 1]
Position [190, 190, 300, 250]
Orientation "left"
SourceBlock "mblibv1/Sensors & \nActuators/Joint Stiction Ac"
"tuator"
SourceType "msb"
PortType "blob"
PhysicalDomain "Mechanical"
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"
ClassName "JointStictionActuator"
DialogClass "EventActuatorBlock"
Primitive "R1"
FrictionalForceUnits "N"
ExternalForceUnits "N"
FrictionalTorqueUnits "N-m"
ExternalTorqueUnits "N-m"
LockingTolerance "1e-2"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [395, 466, 440, 499]
Orientation "left"
InputSameDT off
Port {
PortNumber 1
Name "Friction proportional to ang vel"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
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