myneural4.mdl
来自「用RBF神经网络和模糊控制方法控制二级倒立摆源码」· MDL 代码 · 共 1,360 行 · 第 1/3 页
MDL
1,360 行
VariableName "y"
SampleTime "0.1"
SaveFormat "Array"
}
Block {
BlockType Scope
Name "U"
Ports [1]
Position [45, 419, 75, 451]
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "U1"
Ports [1]
Position [165, 419, 195, 451]
Floating off
Location [5, 52, 1021, 725]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "U2"
Ports [1]
Position [245, 419, 275, 451]
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "X"
Ports [1]
Position [330, 109, 360, 141]
NamePlacement "alternate"
Floating off
Location [5, 52, 1021, 725]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData6"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "X1"
Ports [1]
Position [395, 108, 425, 142]
NamePlacement "alternate"
Floating off
Location [633, 183, 957, 422]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "1"
SaveName "ScopeData10"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "XBAR"
Ports [1]
Position [395, 299, 425, 331]
NamePlacement "alternate"
Floating off
Location [633, 183, 957, 422]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData9"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType SubSystem
Name "adaptive \ncontroller"
Ports [1, 1]
Position [60, 314, 125, 356]
Orientation "left"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
Port {
PortNumber 1
Name "u1"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "adaptive \ncontroller"
Location [404, 365, 906, 718]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [110, 103, 140, 117]
IconDisplay "Port number"
}
Block {
BlockType Gain
Name "Gain"
Position [240, 95, 270, 125]
Gain "100"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Out1"
Position [360, 103, 390, 117]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType StateSpace
Name "doublepend system"
Position [75, 243, 135, 277]
A "[0 0 0 1.0000 0 0 ;0 0 0 0 1.0000 0 ;0 0 0 0 0"
" 1.0000;
\n0 -1.5352 0.0487 -10.1733 0.0066 -0.0034 ;0 38.3769 -13.8131"
" 22.1408 -0.2412 0.1629
;0 -41.4394 39.1031 -2.1059 0.4085 -0.3240]"
B "[0;0;0;0.9597; -2.0888; 0.1987]"
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]"
X0 "[0 0.1 0 0 0 0]"
Port {
PortNumber 1
Name "x"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType "S-Function"
Name "neural controller"
Ports [1, 1]
Position [260, 320, 320, 350]
Orientation "left"
NamePlacement "alternate"
FunctionName "myneuro7"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Scope
Name "output"
Ports [1]
Position [220, 109, 250, 141]
NamePlacement "alternate"
Floating off
Location [173, 186, 701, 487]
Open on
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData11"
DataFormat "StructureWithTime"
SampleTime "0"
}
Line {
Name "u1"
SrcBlock "adaptive \ncontroller"
SrcPort 1
Points [0, 0; -35, 0]
Branch {
Points [0, 100]
DstBlock "U"
DstPort 1
}
Branch {
Points [0, -75]
DstBlock "doublepend system"
DstPort 1
}
}
Line {
SrcBlock "neural controller"
SrcPort 1
Points [0, 0; -25, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
DstBlock "U2"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [0, 0; -5, 0]
Branch {
DstBlock "adaptive \ncontroller"
DstPort 1
}
Branch {
DstBlock "U1"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "X"
DstPort 1
}
Branch {
Points [65, 0; 0, -5]
Branch {
DstBlock "Gain1"
DstPort 1
}
Branch {
Points [290, 0]
DstBlock "Mux1"
DstPort 2
}
}
}
Line {
Name "ang1"
SrcBlock "Demux"
SrcPort 2
Points [0, 0; 125, 0]
Branch {
Labels [1, 0]
DstBlock "ANG1"
DstPort 1
}
Branch {
Points [240, 0]
DstBlock "Mux1"
DstPort 3
}
}
Line {
Name "ang2"
SrcBlock "Demux"
SrcPort 3
Points [175, 0; 0, -25]
Branch {
Labels [1, 1]
DstBlock "ANG2"
DstPort 1
}
Branch {
Points [150, 0; 0, -5]
DstBlock "Sum4"
DstPort 2
}
}
Line {
Name "xbar"
Labels [2, 0]
SrcBlock "Demux"
SrcPort 4
Points [75, 0]
DstBlock "XBAR"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [125, 0]
DstBlock "ANG1BAR"
DstPort 1
}
Line {
Name "ang2bar\n\n"
Labels [2, 1]
SrcBlock "Demux"
SrcPort 6
Points [175, 0]
DstBlock "ANG2BAR"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "X1"
DstPort 1
}
Line {
Name "x"
Labels [0, 0]
SrcBlock "doublepend system"
SrcPort 1
Points [0, 0; 55, 0]
Branch {
Points [0, -135]
DstBlock "output"
DstPort 1
}
Branch {
Points [40, 0]
Branch {
Points [0, -35]
DstBlock "Demux"
DstPort 1
}
Branch {
Points [100, 0]
DstBlock "neural controller"
DstPort 1
}
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Labels [2, 0]
Points [-10, 0; 0, 70]
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Animation"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [5, 0]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Reference\nUSED FOR FLASH"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Signal Gen."
SrcPort 1
Points [0, 0]
DstBlock "Sum2"
DstPort 1
}
Annotation {
Name "x"
Position [326, 177]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "x"
Position [366, 142]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Double Pendulum System\n(Double click on the \""
"?\" for more info)"
Position [112, 32]
UseDisplayTextAsClickCallback off
}
Annotation {
Name " Wang Qiyuan\nBJUT\nIAIR\nRuan Xiaogang"
Position [737, 57]
UseDisplayTextAsClickCallback off
}
}
}
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