newfuzzy4.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 1,415 行 · 第 1/3 页
MDL
1,415 行
TimeRange "16"
YMin "-2.061349693251536"
YMax "1.938650306748464"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope6"
Ports [1]
Position [35, 289, 65, 321]
Orientation "left"
NamePlacement "alternate"
Floating off
Location [5, 52, 1021, 725]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData5"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope7"
Ports [1]
Position [35, 194, 65, 226]
Orientation "left"
NamePlacement "alternate"
Floating off
Location [1, 52, 1017, 725]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData7"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope8"
Ports [1]
Position [295, 39, 325, 71]
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 "Scope9"
Ports [1]
Position [505, 24, 535, 56]
NamePlacement "alternate"
Floating off
Location [5, 52, 1021, 725]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData8"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType StateSpace
Name "State-Space"
Position [205, 133, 265, 167]
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 0.2 0 0 0 0]"
Port {
PortNumber 1
Name "x"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [100, 140, 120, 160]
ShowName off
IconShape "round"
Inputs "--"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "u\n"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum14"
Ports [3, 1]
Position [320, 490, 340, 510]
Orientation "left"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum3"
Ports [3, 1]
Position [330, 305, 350, 325]
Orientation "left"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k1"
Position [325, 235, 355, 265]
Orientation "down"
NamePlacement "alternate"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k2"
Position [390, 235, 420, 265]
Orientation "down"
NamePlacement "alternate"
Gain "-231.11"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k3"
Position [455, 235, 485, 265]
Orientation "down"
NamePlacement "alternate"
Gain "326.3442"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k4"
Position [545, 235, 575, 265]
Orientation "down"
NamePlacement "alternate"
Gain "0.9843"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k5"
Position [600, 235, 630, 265]
Orientation "down"
NamePlacement "alternate"
Gain "-5.5640"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k6"
Position [655, 235, 685, 265]
Orientation "down"
NamePlacement "alternate"
Gain "52.3631"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Line {
Name "u\n"
Labels [0, 0]
SrcBlock "Sum1"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Labels [1, 0]
DstBlock "State-Space"
DstPort 1
}
Branch {
Labels [2, 0]
Points [5, 0]
DstBlock "Scope3"
DstPort 1
}
}
Line {
Name "u\n"
Labels [0, 0]
SrcBlock "Gain26"
SrcPort 1
Points [0, 0; 0, -15]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Labels [0, 0; -1, 1; 0, 0]
DstBlock "Scope7"
DstPort 1
}
}
Line {
Name "x"
Labels [0, 0]
SrcBlock "State-Space"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Labels [1, 0]
DstBlock "Demux"
DstPort 1
}
Branch {
Labels [1, 0]
DstBlock "Scope8"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fuzzy Logic \nController \nwith Ruleviewer"
DstPort 1
}
Line {
SrcBlock "Fuzzy Logic \nController \nwith Ruleviewer"
SrcPort 1
Points [-20, 0; 0, -20]
Branch {
DstBlock "Gain26"
DstPort 1
}
Branch {
DstBlock "Scope6"
DstPort 1
}
}
Line {
SrcBlock "k2"
SrcPort 1
Points [0, 45]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "k3"
SrcPort 1
Points [0, 75; -130, 0]
DstBlock "Sum3"
DstPort 3
}
Line {
SrcBlock "k4"
SrcPort 1
Points [0, 190; -230, 0]
DstBlock "Sum14"
DstPort 1
}
Line {
SrcBlock "k5"
SrcPort 1
Points [0, 230]
DstBlock "Sum14"
DstPort 2
}
Line {
SrcBlock "k6"
SrcPort 1
Points [0, 270; -340, 0]
DstBlock "Sum14"
DstPort 3
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Gain24"
DstPort 1
}
Line {
SrcBlock "Sum14"
SrcPort 1
DstBlock "Gain25"
DstPort 1
}
Line {
SrcBlock "Gain25"
SrcPort 1
Points [0, 0; -10, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
DstBlock "Scope4"
DstPort 1
}
}
Line {
SrcBlock "Gain24"
SrcPort 1
Points [0, 0; -5, 0]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 80; 60, 0]
DstBlock "Scope5"
DstPort 1
}
}
Line {
SrcBlock "k1"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
DstBlock "k1"
DstPort 1
}
Branch {
Points [45, 0; 0, -95]
DstBlock "Scope2"
DstPort 1
}
}
Line {
Name "ang1"
SrcBlock "Demux"
SrcPort 2
Points [0, 0; 85, 0]
Branch {
DstBlock "k2"
DstPort 1
}
Branch {
Labels [1, 0; 0, 0]
Points [35, 0]
DstBlock "Scope1"
DstPort 1
}
}
Line {
Name "ang2"
SrcBlock "Demux"
SrcPort 3
Points [0, 0; 150, 0]
Branch {
DstBlock "k3"
DstPort 1
}
Branch {
Labels [2, 1; 1, 0]
Points [20, 0]
DstBlock "Scope9"
DstPort 1
}
}
Line {
Name "xbar"
SrcBlock "Demux"
SrcPort 4
Points [0, 0; 240, 0]
Branch {
Labels [1, 1]
DstBlock "k4"
DstPort 1
}
Branch {
Labels [-1, 0; 1, 0]
DstBlock "Scope12"
DstPort 1
}
}
Line {
Name "ang1bar"
Labels [0, 0]
SrcBlock "Demux"
SrcPort 5
Points [0, 0; 295, 0]
Branch {
Labels [1, 1]
DstBlock "k5"
DstPort 1
}
Branch {
Labels [1, 0]
DstBlock "Scope11"
DstPort 1
}
}
Line {
Name "ang2bar\n\n"
SrcBlock "Demux"
SrcPort 6
Points [0, 0; 350, 0]
Branch {
Labels [1, 0]
DstBlock "k6"
DstPort 1
}
Branch {
Labels [1, 1]
Points [0, -115]
DstBlock "Scope10"
DstPort 1
}
}
Annotation {
Name "x"
Position [336, 122]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "x"
Position [376, 87]
UseDisplayTextAsClickCallback off
}
}
}
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