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📄 doublewishbonevr.mdl

📁 This demo shows how to use MATLAB, Optimization Toolbox, and Genetic Algorithm and Direct Search Too
💻 MDL
📖 第 1 页 / 共 5 页
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"-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 {
	    Name		    "Double Wish"
	    Location		    [185, 107, 961, 642]
	    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		      Inport
	      Name		      "VR Car"
	      Position		      [460, 443, 490, 457]
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Spindle"
	      Ports		      [0, 2, 0, 0, 0, 2, 2]
	      Position		      [405, 120, 460, 200]
	      Orientation	      "down"
	      NamePlacement	      "alternate"
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      FunctionWithSeparateData off
	      MaskHideContents	      off
	      MaskPromptString	      "Radius (in)|Height (in)|Material Densit"
"y (lbm/in^3)|Rotation [Rx, Ry, Rz] (degrees)"
	      MaskStyleString	      "edit,edit,edit,edit"
	      MaskTunableValueString  "on,on,on,on"
	      MaskCallbackString      "|||"
	      MaskEnableString	      "on,on,on,on"
	      MaskVisibilityString    "on,on,on,on"
	      MaskToolTipString	      "on,on,on,on"
	      MaskVarAliasString      ",,,"
	      MaskVariables	      "r=@1;h=@2;rho=@3;Rot=@4;"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      MaskValueString	      "0.25|12|0.05|[0 0 -90]"
	      MaskTabNameString	      ",,,"
	      System {
		Name			"Spindle"
		Location		[405, 179, 922, 617]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		TiledPaperMargins	"[0.500000, 0.500000, 0.500000, 0.5000"
"00]"
		TiledPageScale		1
		ShowPageBoundaries	off
		ZoomFactor		"100"
		Block {
		  BlockType		  Reference
		  Name			  "Body"
		  Ports			  [0, 0, 0, 0, 0, 3, 3]
		  Position		  [165, 46, 230, 154]
		  DialogController	  "MECH.DynMechDlgSource"
		  SourceBlock		  "mblibv1/Bodies/Body"
		  SourceType		  "msb"
		  PhysicalDomain	  "mechanical"
		  SubClassName		  "Unknown"
		  LeftPortType		  "workingframe"
		  RightPortType		  "workingframe"
		  LConnTagsString	  "CS1|CS5|CG"
		  RConnTagsString	  "CS2|CS3|CS4"
		  ClassName		  "Body"
		  DialogClass		  "MechanicalBodyBlock"
		  Mass			  "rho*pi*r*r*h"
		  MassUnits		  "lbm"
		  InertiaUnits		  "lbm*in^2"
		  Inertia		  "rho*pi*r*r*h*[(3*r*r + h*h) 0 0;0 6"
"*r*r 0;0 0 (3*r*r + h*h)]/12"
		  Shape			  "Cylinder"
		  ShapeDims		  "[1 1]"
		  ShapeUnits		  "m"
		  ShapeUse		  "false"
		  Density		  "1"
		  DensityUnits		  "kg/m^3"
		  DensityUse		  "false"
		  CG			  "Left$CG$[0 h/2 0]$CS1$CS1$in$[0 0 0"
"]$Euler X-Y-Z$deg$CS1$true"
		  WorkingFrames		  "Left$CS1$[0 0 0]$ADJOINING$ADJOININ"
"G$in$Rot$Euler X-Y-Z$deg$ADJOINING$true#Right$CS2$[0 h/2 0]$CG$CG$in$[0 0 0]$"
"Euler X-Y-Z$deg$CG$true#Right$CS3$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-Z$deg$WOR"
"LD$true#Right$CS4$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-Z$deg$CG$true#Left$CS5$[0"
" 0 0]$CG$CG$m$[0 0 115]$Euler X-Y-Z$deg$CG$true"
		  CGPos			  "[0 h/2 0]"
		  CGRot			  "[0 0 0]"
		  CS0Pos		  "[]"
		  CS0Rot		  "[]"
		  CS1Pos		  "[0 0 0]"
		  CS1Rot		  "Rot"
		  CS2Pos		  "[0 h/2 0]"
		  CS2Rot		  "[0 0 0]"
		  CS3Pos		  "[0 0 0]"
		  CS3Rot		  "[0 0 0]"
		  CS4Pos		  "[0 0 0]"
		  CS4Rot		  "[0 0 0]"
		  CS5Pos		  "[0 0 0]"
		  CS5Rot		  "[0 0 115]"
		  CS6Pos		  "[]"
		  CS6Rot		  "[]"
		  CS7Pos		  "[]"
		  CS7Rot		  "[]"
		  CS8Pos		  "[]"
		  CS8Rot		  "[]"
		  CS9Pos		  "[]"
		  CS9Rot		  "[]"
		  CS10Pos		  "[]"
		  CS10Rot		  "[]"
		  CS11Pos		  "[]"
		  CS11Rot		  "[]"
		  CS12Pos		  "[]"
		  CS12Rot		  "[]"
		  CS13Pos		  "[]"
		  CS13Rot		  "[]"
		  CS14Pos		  "[]"
		  CS14Rot		  "[]"
		  CS15Pos		  "[]"
		  CS15Rot		  "[]"
		  CS16Pos		  "[]"
		  CS16Rot		  "[]"
		  CS17Pos		  "[]"
		  CS17Rot		  "[]"
		  CS18Pos		  "[]"
		  CS18Rot		  "[]"
		  CS19Pos		  "[]"
		  CS19Rot		  "[]"
		  CS20Pos		  "[]"
		  CS20Rot		  "[]"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Disassembled Spherical"
		  Ports			  [0, 0, 0, 0, 0, 1, 1]
		  Position		  [325, 35, 375, 85]
		  DialogController	  "MECH.DynMechDlgSource"
		  SourceBlock		  "mblibv1/Joints/Disassembled Joints/"
"Disassembled Spherical"
		  SourceType		  "msb"
		  PhysicalDomain	  "mechanical"
		  SubClassName		  "disassembled_spherical_joint"
		  LeftPortType		  "blob"
		  RightPortType		  "blob"
		  LConnTagsString	  "__newl0"
		  RConnTagsString	  "__newr0"
		  DialogClass		  "JointBlock"
		  ClassName		  "DisassembledSpherical"
		  Primitives		  "prismatic_prismatic"
		  PrimitiveProps	  "Base$INERTIAL$[1 0 0]$prismatic#Fol"
"lower$INERTIAL$[0 1 0]$prismatic"
		  BaseAxis		  "[1 0 0]"
		  FollowerAxis		  "[0 1 0]"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Spherical"
		  Ports			  [0, 0, 0, 0, 0, 1, 1]
		  Position		  [85, 45, 135, 95]
		  DialogController	  "MECH.DynMechDlgSource"
		  SourceBlock		  "mblibv1/Joints/Spherical"
		  SourceType		  "msb"
		  PhysicalDomain	  "mechanical"
		  SubClassName		  "Unknown"
		  LeftPortType		  "blob"
		  RightPortType		  "blob"
		  LConnTagsString	  "__newl0"
		  RConnTagsString	  "__newr0"
		  NumSAPorts		  "0"
		  CutJoint		  "off"
		  MarkAsCut		  "off"
		  Primitives		  "spherical"
		  PrimitiveProps	  "S$INERTIAL$[0 0 0]$spherical"
		  ClassName		  "Joint"
		  DialogClass		  "JointBlock"
		  SAxis			  "[0 0 0]"
		}
		Block {
		  BlockType		  SubSystem
		  Name			  "Subsystem"
		  Ports			  [0, 1, 0, 0, 0, 1]
		  Position		  [175, 167, 240, 203]
		  MinAlgLoopOccurrences	  off
		  RTWSystemCode		  "Auto"
		  FunctionWithSeparateData off
		  MaskHideContents	  off
		  System {
		    Name		    "Subsystem"
		    Location		    [355, 387, 903, 673]
		    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 Sensor"
		    Ports		    [0, 2, 0, 0, 0, 1]
		    Position		    [85, 35, 125, 75]
		    DialogController	    "MECH.DynMechDlgSource"
		    SourceBlock		    "mblibv1/Sensors & \nActuators/Bod"
"y 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		    "off"
		    Pose		    "on"
		    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 9 ]"
		    ActiveIO		    "on"
		    Width		    "12"
		    ClassName		    "BodySensor"
		    DialogClass		    "MechanicalSensorBlock"
		    ReferenceFrame	    "Absolute (World)"
		    Port {
		    PortNumber		    1
		    Name		    "Translation"
		    RTWStorageClass	    "Auto"
		    DataLoggingNameMode	    "SignalName"
		    }
		    }
		    Block {
		    BlockType		    BusCreator
		    Name		    "Bus\nCreator"
		    Ports		    [4, 1]
		    Position		    [420, 26, 435, 184]
		    ShowName		    off
		    DisplayOption	    "bar"
		    }
		    Block {
		    BlockType		    Reference
		    Name		    "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
		    Tag			    "Pose2VR"
		    Ports		    [1, 1]
		    Position		    [170, 66, 310, 104]
		    SourceBlock		    "mblibv1/Utilities/Convert from Ro"
"tation Matrix to\nVirtual Reality Toolbox"
		    SourceType		    "RotationMatrix2VR"
		    Port {
		    PortNumber		    1
		    Name		    "Rotation"
		    RTWStorageClass	    "Auto"
		    DataLoggingNameMode	    "SignalName"
		    }
		    }
		    Block {
		    BlockType		    Constant
		    Name		    "Height"
		    Position		    [270, 145, 300, 175]
		    Value		    "h"
		    VectorParams1D	    on
		    SamplingMode	    "Sample based"
		    OutDataTypeMode	    "Inherit from 'Constant value'"
		    OutDataType		    "sfix(16)"
		    ConRadixGroup	    "Use specified scaling"
		    OutScaling		    "2^0"
		    SampleTime		    "inf"
		    FramePeriod		    "inf"
		    Port {
		    PortNumber		    1
		    Name		    "Height"
		    RTWStorageClass	    "Auto"
		    DataLoggingNameMode	    "SignalName"
		    }
		    }
		    Block {
		    BlockType		    Constant
		    Name		    "Radius"
		    Position		    [270, 210, 300, 240]
		    Value		    "r"
		    VectorParams1D	    on
		    SamplingMode	    "Sample based"
		    OutDataTypeMode	    "Inherit from 'Constant value'"
		    OutDataType		    "sfix(16)"
		    ConRadixGroup	    "Use specified scaling"
		    OutScaling		    "2^0"
		    SampleTime		    "inf"
		    FramePeriod		    "inf"
		    Port {
		    PortNumber		    1
		    Name		    "Radius"
		    RTWStorageClass	    "Auto"
12345

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