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📄 doublewishbone.mdl

📁 This demo shows how to use MATLAB, Optimization Toolbox, and Genetic Algorithm and Direct Search Too
💻 MDL
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      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Goto
      IconDisplay	      "Tag"
    }
    Block {
      BlockType		      Ground
    }
    Block {
      BlockType		      Inport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      LatchByDelayingOutsideSignal off
      LatchByCopyingInsideSignal off
      Interpolate	      on
    }
    Block {
      BlockType		      Math
      Operator		      "exp"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      UseBusObject	      off
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      PMComponent
      SubClassName	      "unknown"
    }
    Block {
      BlockType		      PMIOPort
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Selector
      IndexMode		      "One-based"
      InputPortWidth	      "-1"
      OutputPortSize	      "1"
    }
    Block {
      BlockType		      Sensor
      SubClassName	      "unknown"
      PortType		      "blob"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
    }
    Block {
      BlockType		      Signum
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Terminator
    }
    Block {
      BlockType		      Trigonometry
      Operator		      "sin"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "DoubleWishbone"
    Location		    [104, 95, 920, 672]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Reference
      Name		      "Body Sensor"
      Ports		      [0, 1, 0, 0, 0, 1]
      Position		      [445, 155, 485, 195]
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Sensors & \nActuators/Body Sensor"
      SourceType	      "msb"
      ShowPortLabels	      on
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      PhysicalDomain	      "Mechanical"
      PortType		      "blob"
      Muxed		      "on"
      Pose		      "off"
      Angle		      "on"
      AngleUnits	      "deg"
      ArcVelocity	      "off"
      ArcVelocityUnits	      "deg/s"
      ArcAcceleration	      "off"
      ArcAccelerationUnits    "deg/s^2"
      CoordPosition	      "on"
      CoordPositionUnits      "m"
      Velocity		      "off"
      VelocityUnits	      "m/s"
      Acceleration	      "off"
      AccelerationUnits	      "m/s^2"
      Quaternion	      "on"
      QuaternionDT	      "off"
      QuaternionDDT	      "off"
      QuaternionUnits	      "off"
      OutputVector	      "[ 3 ]"
      ActiveIO		      "on"
      Width		      "3"
      ClassName		      "BodySensor"
      DialogClass	      "MechanicalSensorBlock"
      ReferenceFrame	      "Absolute (World)"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Double Wishbone"
      Ports		      [0, 0, 0, 0, 0, 1, 3]
      Position		      [270, 96, 375, 204]
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      MaskType		      "Double Wishbone Suspension"
      MaskPromptString	      "Upper Arm Length (in)|Upper Arm Front Connectio"
"n Point [x y z] (in)|Upper Arm Back Connection Point [x y z] (in)|Lower Arm L"
"ength (in)|Lower Arm Front Connection Point [x y z] (in)|Lower Arm Back Conne"
"ction Point [x y z] (in)|Connecting Ling Length (in)|Shock Spring Constant (l"
"bf/in)|Shock Damping Constant (lbf-s/in)|Shock Pre-Set Force (lbf)"
      MaskStyleString	      "edit,edit,edit,edit,edit,edit,edit,edit,edit,ed"
"it"
      MaskTunableValueString  "on,on,on,on,on,on,on,on,on,on"
      MaskCallbackString      "|||||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,,,"
      MaskVariables	      "LU=@1;UFPt=@2;UBPt=@3;LL=@4;LFPt=@5;LBPt=@6;LC="
"@7;k=@8;b=@9;Fps=@10;"
      MaskInitialization      "UPV = UBPt - UFPt;\nUBase = sqrt(UPV(1)^2+UPV(2"
")^2+UPV(3)^2);\nULink = sqrt(LU*LU + UBase*UBase/4);\nLPV = LBPt - LFPt;\nLBa"
"se = sqrt(LPV(1)^2+LPV(2)^2+LPV(3)^2);\nLLink = sqrt(LL*LL + LBase*LBase/4);"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "x(1)|x(2:4)|x(5:7)|x(8)|x(9:11)|x(12:14)|x(15)|"
"300|20|20000"
      MaskTabNameString	      ",,,,,,,,,"
      System {
	Name			"Double Wishbone"
	Location		[350, 224, 931, 633]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Reference
	  Name			  "Body"
	  Ports			  [0, 0, 0, 0, 0, 1, 7]
	  Position		  [80, 52, 160, 348]
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS1"
	  RConnTagsString	  "CS2|CS3|CS4|CS5|CS6|CS7|CS8"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "1000"
	  MassUnits		  "lbm"
	  InertiaUnits		  "lbm*in^2"
	  Inertia		  "eye(3)"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0 0 0]$CS1$CS1$in$[0 0 0]$Euler X-"
"Y-Z$deg$CS1$false"
	  WorkingFrames		  "Left$CS1$[0 0 0]$ADJOINING$ADJOINING$in$[0 "
"0 0]$Euler X-Y-Z$deg$ADJOINING$true#Right$CS2$UFPt$CG$CG$in$[0 0 0]$Euler X-Y"
"-Z$deg$CG$true#Right$CS3$UBPt$CG$CG$in$[0 0 0]$Euler X-Y-Z$deg$CG$true#Right$"
"CS4$LFPt$CG$CG$in$[0 0 0]$Euler X-Y-Z$deg$CG$true#Right$CS5$LBPt$CG$CG$in$[0 "
"0 0]$Euler X-Y-Z$deg$CG$true#Right$CS6$[0 0 0]$ADJOINING$ADJOINING$in$[0 0 0]"
"$Euler X-Y-Z$deg$ADJOINING$true#Right$CS7$[0 0 0]$CG$CG$in$[0 0 0]$Euler X-Y-"
"Z$deg$WORLD$true#Right$CS8$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-Z$deg$CG$true"
	  CGPos			  "[0 0 0]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[0 0 0]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "UFPt"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "UBPt"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "LFPt"
	  CS4Rot		  "[0 0 0]"
	  CS5Pos		  "LBPt"
	  CS5Rot		  "[0 0 0]"
	  CS6Pos		  "[0 0 0]"
	  CS6Rot		  "[0 0 0]"
	  CS7Pos		  "[0 0 0]"
	  CS7Rot		  "[0 0 0]"
	  CS8Pos		  "[0 0 0]"
	  CS8Rot		  "[0 0 0]"
	  CS9Pos		  "[]"
	  CS9Rot		  "[]"
	  CS10Pos		  "[]"
	  CS10Rot		  "[]"
	  CS11Pos		  "[]"
	  CS11Rot		  "[]"
	  CS12Pos		  "[]"
	  CS12Rot		  "[]"
	  CS13Pos		  "[]"
	  CS13Rot		  "[]"
	  CS14Pos		  "[]"
	  CS14Rot		  "[]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Body Sensor"
	  Ports			  [0, 1, 0, 0, 0, 1]
	  Position		  [215, 300, 255, 340]
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Sensors & \nActuators/Body Sensor"
	  SourceType		  "msb"
	  ShowPortLabels	  on
	  SystemSampleTime	  "-1"
	  FunctionWithSeparateData off
	  RTWMemSecFuncInitTerm	  "Inherit from model"
	  RTWMemSecFuncExecute	  "Inherit from model"
	  RTWMemSecDataConstants  "Inherit from model"
	  RTWMemSecDataInternal	  "Inherit from model"
	  RTWMemSecDataParameters "Inherit from model"
	  PhysicalDomain	  "Mechanical"
	  PortType		  "blob"
	  Muxed			  "on"
	  Pose			  "off"
	  Angle			  "on"
	  AngleUnits		  "deg"
	  ArcVelocity		  "off"
	  ArcVelocityUnits	  "deg/s"
	  ArcAcceleration	  "off"
	  ArcAccelerationUnits	  "deg/s^2"
	  CoordPosition		  "on"
	  CoordPositionUnits	  "in"
	  Velocity		  "off"
	  VelocityUnits		  "m/s"
	  Acceleration		  "off"
	  AccelerationUnits	  "m/s^2"
	  Quaternion		  "on"
	  QuaternionDT		  "off"
	  QuaternionDDT		  "off"
	  QuaternionUnits	  "off"
	  OutputVector		  "[ 3 ]"
	  ActiveIO		  "on"
	  Width			  "3"
	  ClassName		  "BodySensor"
	  DialogClass		  "MechanicalSensorBlock"
	  ReferenceFrame	  "Absolute (World)"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [365, 305, 395, 335]
	  Orientation		  "left"
	  Value			  "[0 12 0]"
	  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		  SubSystem
	  Name			  "Double Wish"
	  Ports			  [1, 0, 0, 0, 0, 5, 2]
	  Position		  [315, 20, 440, 260]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
12345

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