📄 zhy.mdl
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Position [370, 305, 400, 335]
Value "1"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Product
Name "Divide"
Ports [2, 1]
Position [525, 227, 555, 258]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide1"
Ports [2, 1]
Position [430, 117, 460, 148]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide2"
Ports [2, 1]
Position [320, 352, 350, 383]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide3"
Ports [2, 1]
Position [325, 267, 355, 298]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide4"
Ports [2, 1]
Position [320, 212, 350, 243]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain"
Position [360, 107, 410, 143]
Gain "0.48"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [420, 167, 450, 198]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [370, 180, 390, 200]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [480, 125, 500, 145]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [425, 305, 455, 335]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [363, 225, 397, 260]
Orientation "up"
SampleTime "-1"
}
Block {
BlockType UnitDelay
Name "Unit Delay3"
Position [390, 353, 425, 387]
SampleTime "-1"
}
Block {
BlockType Outport
Name "u"
Position [575, 238, 605, 252]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "yr"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Unit Delay1"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [10, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "y"
SrcPort 1
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [35, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "f0"
SrcPort 1
Points [20, 0]
Branch {
Points [0, -30]
Branch {
DstBlock "Divide3"
DstPort 2
}
Branch {
Points [0, -55]
Branch {
Points [0, -95]
DstBlock "Divide1"
DstPort 2
}
Branch {
DstBlock "Divide4"
DstPort 2
}
}
}
Branch {
Points [0, 55]
DstBlock "Divide2"
DstPort 2
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [5, 0]
DstBlock "Divide"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [20, 0; 0, -70]
DstBlock "Divide"
DstPort 2
}
Line {
SrcBlock "Divide"
SrcPort 1
DstBlock "u"
DstPort 1
}
Line {
SrcBlock "Unit Delay3"
SrcPort 1
Points [10, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Divide1"
DstPort 1
}
Line {
SrcBlock "Divide1"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [0, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "f1"
SrcPort 1
DstBlock "Divide2"
DstPort 1
}
Line {
SrcBlock "Divide2"
SrcPort 1
DstBlock "Unit Delay3"
DstPort 1
}
Line {
SrcBlock "g1"
SrcPort 1
DstBlock "Divide3"
DstPort 1
}
Line {
SrcBlock "Divide3"
SrcPort 1
Points [20, 0]
DstBlock "Unit Delay1"
DstPort 1
}
Line {
SrcBlock "g0"
SrcPort 1
DstBlock "Divide4"
DstPort 1
}
Line {
SrcBlock "Divide4"
SrcPort 1
Points [0, 0]
DstBlock "Sum"
DstPort 1
}
}
}
Block {
BlockType DiscretePulseGenerator
Name "fang bo"
Ports [0, 1]
Position [180, 118, 225, 152]
Amplitude "5"
Period "200"
PulseWidth "100"
SampleTime "0.01"
}
Block {
BlockType Scope
Name "theta"
Ports [1]
Position [290, 229, 320, 261]
NamePlacement "alternate"
Floating off
Location [-3, 48, 1021, 733]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-4e+042"
YMax "8e+042"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "u"
Ports [1]
Position [399, 125, 431, 155]
Orientation "up"
Floating off
Location [6, 54, 1030, 739]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-100"
YMax "100"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "yr and y"
Ports [1]
Position [404, 15, 436, 45]
Orientation "up"
Floating off
Location [-3, 48, 1021, 733]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-100"
YMax "100"
DataFormat "StructureWithTime"
SampleTime "0"
}
Line {
Labels [0, 0]
SrcBlock "Discrete Filter"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
Points [0, -65; -200, 0]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 105; -195, 0]
Branch {
DstBlock "RLS"
DstPort 2
}
Branch {
Points [0, 30; -190, 0; 0, -160]
DstBlock "controller"
DstPort 2
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "yr and y"
DstPort 1
}
Line {
SrcBlock "RLS"
SrcPort 1
Points [-80, 0]
Branch {
Points [0, -20]
Branch {
Points [0, -55]
DstBlock "Demux"
DstPort 1
}
Branch {
DstBlock "theta"
DstPort 1
}
}
Branch {
Points [-25, 0]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "fang bo"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
Points [0, -25; 145, 0]
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "controller"
DstPort 1
}
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
DstBlock "Discrete Filter"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0]
DstBlock "controller"
DstPort 3
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [0, 0]
DstBlock "controller"
DstPort 4
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [0, 0]
DstBlock "controller"
DstPort 5
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [0, 0]
DstBlock "controller"
DstPort 6
}
Line {
Labels [2, 0]
SrcBlock "controller"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
DstBlock "u"
DstPort 1
}
Branch {
Points [30, 0]
DstBlock "Unit Delay"
DstPort 1
}
Branch {
Points [0, 75]
DstBlock "RLS"
DstPort 1
}
}
}
}
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