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📄 double_pendulum1.mdl

📁 只是偶搭建的关于二级倒立摆模糊控制的Matlab模块文件
💻 MDL
📖 第 1 页 / 共 2 页
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    }
    Block {
      BlockType		      Demux
      Name		      "Demux1"
      Ports		      [1, 6]
      Position		      [735, 48, 755, 247]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "6"
    }
    Block {
      BlockType		      Reference
      Name		      "Fuzzy Logic \nController"
      Ports		      [1, 1]
      Position		      [405, 84, 465, 136]
      FontName		      "Arial"
      SourceBlock	      "fuzblock/Fuzzy Logic \nController"
      SourceType	      "FIS"
      fis		      "daolibai3"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [280, 85, 310, 115]
      Gain		      "12"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [515, 95, 545, 125]
      Gain		      "25"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [275, 160, 305, 190]
      Gain		      "12"
    }
    Block {
      BlockType		      Gain
      Name		      "Matrix\nGain"
      Position		      [145, 90, 175, 120]
      Gain		      "[0.0752 0.4816 -0.8581 0 0 0;0 0 0 0.0802 0.011"
"8 -0.1396] "
      Multiplication	      "Matrix(K*u)"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [365, 91, 370, 129]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [865, 14, 895, 46]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      TimeRange		      "10"
      YMin		      "-0.8"
      YMax		      "0.15"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1]
      Position		      [860, 69, 890, 101]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "-0.8"
      YMax		      "0.15"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1]
      Position		      [860, 124, 890, 156]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "-0.8"
      YMax		      "0.15"
      SaveName		      "ScopeData2"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope3"
      Ports		      [1]
      Position		      [860, 174, 890, 206]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "-0.8"
      YMax		      "0.15"
      SaveName		      "ScopeData3"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope4"
      Ports		      [1]
      Position		      [865, 224, 895, 256]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "-0.8"
      YMax		      "0.15"
      SaveName		      "ScopeData4"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope5"
      Ports		      [1]
      Position		      [865, 279, 895, 311]
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "-0.8"
      YMax		      "0.15"
      SaveName		      "ScopeData5"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space"
      Position		      [580, 93, 640, 127]
      A			      "[0 0 0 1 0 0;0 0 0 0 1 0;0 0 0 0 0 1;0 0 0 0 0 "
"0;0 86.69 -21.62 0 0 0;0 -40.31 39.45 0 0 0]"
      B			      "[0 0 0 1 6.64 -0.088]'"
      C			      "[1 0 0 0 0 0;0 1 0 0 0 0;0 0 1 0 0 0;0 0 0 1 0 "
"0;0 0 0 0 1 0;0 0 0 0 0 1]"
      D			      "[0 0 0 0 0 0]'"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [100, 95, 120, 115]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Line {
      SrcBlock		      "State-Space"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	Points			[0, 140; -570, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	Points			[40, 0]
	DstBlock		"Demux1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Matrix\nGain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [20, 0; 0, -55]
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic \nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Fuzzy Logic \nController"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "State-Space"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Matrix\nGain"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [15, 0; 0, 5]
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [10, 0; 0, 60]
      DstBlock		      "Gain2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      1
      Points		      [45, 0; 0, -30]
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      Points		      [40, 0; 0, -10]
      DstBlock		      "Scope1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      3
      Points		      [40, 0; 0, 10]
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      4
      Points		      [30, 0; 0, 25]
      DstBlock		      "Scope3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      5
      Points		      [20, 0; 0, 40]
      DstBlock		      "Scope4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      6
      Points		      [10, 0; 0, 60]
      DstBlock		      "Scope5"
      DstPort		      1
    }
  }
}

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