📄 yulei1017.mdl
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Name "Fcz"
Position [695, 348, 725, 362]
Port "3"
}
Line {
SrcBlock "y"
SrcPort 1
DstBlock "Fcy"
DstPort 1
}
Line {
SrcBlock "z"
SrcPort 1
DstBlock "Fcz"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [20, 0; 0, -60]
Branch {
Points [0, 60]
DstBlock "y"
DstPort 1
}
Branch {
Points [0, 135]
DstBlock "z"
DstPort 1
}
Branch {
Points [0, -15]
DstBlock "x\n"
DstPort 1
}
}
Line {
SrcBlock "x\n"
SrcPort 1
DstBlock "Fcx"
DstPort 1
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "v"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "w"
SrcPort 1
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [40, 0]
Branch {
Points [0, 10]
DstBlock "V^2"
DstPort 1
}
Branch {
Points [0, -30]
Branch {
Points [0, -40]
DstBlock "α"
DstPort 1
}
Branch {
Points [0, 0]
DstBlock "β"
DstPort 1
}
}
}
Line {
SrcBlock "α"
SrcPort 1
Points [80, 0]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "β"
SrcPort 1
Points [25, 0]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "V^2"
SrcPort 1
Points [0, 5]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "δc\n"
SrcPort 1
Points [0, 5]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Sc"
SrcPort 1
Points [0, 5]
DstBlock "Mux1"
DstPort 5
}
Line {
SrcBlock "ρ"
SrcPort 1
Points [0, 5]
DstBlock "Mux1"
DstPort 6
}
Line {
SrcBlock "σ"
SrcPort 1
DstBlock "Mux1"
DstPort 7
}
}
}
Block {
BlockType SubSystem
Name "空化器力矩"
Ports [6, 3]
Position [410, 443, 450, 617]
TreatAsAtomicUnit off
System {
Name "空化器力矩"
Location [2, 82, 1014, 732]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "Fcx"
Position [270, 158, 300, 172]
}
Block {
BlockType Inport
Name "Fcy"
Position [300, 198, 330, 212]
Port "2"
}
Block {
BlockType Inport
Name "Fcz"
Position [285, 238, 315, 252]
Port "3"
}
Block {
BlockType Inport
Name "Xc"
Position [285, 278, 315, 292]
Port "4"
}
Block {
BlockType Inport
Name "δc"
Position [275, 318, 305, 332]
Port "5"
}
Block {
BlockType Inport
Name "δcp"
Position [290, 358, 320, 372]
Port "6"
}
Block {
BlockType Mux
Name "Mux1"
Ports [6, 1]
Position [435, 148, 445, 382]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "x\n"
Position [525, 145, 585, 175]
Expr "u(2)*sin(u(5))*u(6)"
}
Block {
BlockType Fcn
Name "y"
Position [530, 205, 590, 235]
Expr "u(1)*sin(u(5))*(-u(6))-u(3)*(u(4)+cos(u(5))"
"*(u(6)))"
}
Block {
BlockType Fcn
Name "z"
Position [530, 275, 590, 305]
Expr "u(2)*(u(4)+cos(u(5))*(u(6)))"
}
Block {
BlockType Outport
Name "MRx"
Position [695, 148, 725, 162]
}
Block {
BlockType Outport
Name "MRy"
Position [695, 213, 725, 227]
Port "2"
}
Block {
BlockType Outport
Name "MRz"
Position [695, 283, 725, 297]
Port "3"
}
Line {
SrcBlock "y"
SrcPort 1
DstBlock "MRy"
DstPort 1
}
Line {
SrcBlock "z"
SrcPort 1
DstBlock "MRz"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, -45; 15, 0]
Branch {
DstBlock "y"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "z"
DstPort 1
}
Branch {
Points [0, -60]
DstBlock "x\n"
DstPort 1
}
}
Line {
SrcBlock "x\n"
SrcPort 1
Points [0, -5]
DstBlock "MRx"
DstPort 1
}
Line {
SrcBlock "Fcx"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Fcy"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Fcz"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Xc"
SrcPort 1
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "δc"
SrcPort 1
DstBlock "Mux1"
DstPort 5
}
Line {
SrcBlock "δcp"
SrcPort 1
DstBlock "Mux1"
DstPort 6
}
}
}
Block {
BlockType SubSystem
Name "空间坐标"
Ports [6, 3]
Position [790, 265, 830, 410]
TreatAsAtomicUnit off
System {
Name "空间坐标"
Location [2, 82, 1014, 732]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [145, 103, 175, 117]
}
Block {
BlockType Inport
Name "v"
Position [190, 128, 220, 142]
Port "2"
}
Block {
BlockType Inport
Name "w"
Position [145, 153, 175, 167]
Port "3"
}
Block {
BlockType Inport
Name "ψ"
Position [195, 178, 225, 192]
Port "4"
}
Block {
BlockType Inport
Name "Θ"
Position [245, 203, 275, 217]
Port "5"
}
Block {
BlockType Inport
Name "Ф"
Position [205, 228, 235, 242]
Port "6"
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1]
Position [560, 85, 590, 115]
}
Block {
BlockType Integrator
Name "Integrator4"
Ports [1, 1]
Position [565, 160, 595, 190]
}
Block {
BlockType Integrator
Name "Integrator5"
Ports [1, 1]
Position [565, 235, 595, 265]
}
Block {
BlockType Mux
Name "Mux1"
Ports [6, 1]
Position [340, 96, 350, 249]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "VX\n"
Position [420, 85, 480, 115]
Expr "u(1)*cos(u(4))*cos(u(5))+u(2)*(sin(u(6))*co"
"s(u(4))*sin(u(5))-sin(u(4))*cos(u(6)))+u(3)*(sin(u(5))*cos(u(4))*cos(u(6))+si"
"n(u(4))*sin(u(6)))"
}
Block {
BlockType Fcn
Name "VY"
Position [425, 160, 485, 190]
Expr "u(1)*sin(u(4))*cos(u(5))+u(2)*(cos(u(4))*co"
"s(u(6))+sin(u(5))*sin(u(4))*sin(u(6)))+u(3)*(sin(u(5))*sin(u(4))*cos(u(6))-co"
"s(u(4))*sin(u(6)))"
}
Block {
BlockType Fcn
Name "VZ"
Position [425, 235, 485, 265]
Expr "-u(1)*sin(u(5))+u(2)*cos(u(5))*sin(u(6))+u("
"3)*cos(u(5))*cos(u(6))"
}
Block {
BlockType Outport
Name "X"
Position [620, 98, 650, 112]
}
Block {
BlockType Outport
Name "Y"
Position [625, 168, 655, 182]
Port "2"
}
Block {
BlockType Outport
Name "Z"
Position [620, 243, 650, 257]
Port "3"
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
Labels [1, 0]
SrcBlock "v"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Integrator3"
SrcPort 1
Points [0, 5]
DstBlock "X"
DstPort 1
}
Line {
SrcBlock "Integrator4"
SrcPort 1
DstBlock "Y"
DstPort 1
}
Line {
SrcBlock "Integrator5"
SrcPort 1
DstBlock "Z"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [30, 0; 0, 40]
Branch {
Points [0, -40]
DstBlock "VY"
DstPort 1
}
Branch {
Points [0, -115]
DstBlock "VX\n"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "VZ"
DstPort 1
}
}
Line {
SrcBlock "VZ"
SrcPort 1
DstBlock "Integrator5"
DstPort 1
}
Line {
SrcBlock "VY"
SrcPort 1
DstBlock "Integrator4"
DstPort 1
}
Line {
SrcBlock "VX\n"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
SrcBlock "w"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "ψ"
SrcPort 1
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Θ"
SrcPort 1
DstBlock "Mux1"
DstPort 5
}
Line {
SrcBlock "Ф"
SrcPort 1
DstBlock "Mux1"
DstPort 6
}
}
}
Block {
BlockType SubSystem
Name "推进力"
Ports [1, 1]
Position [315, 230, 350, 290]
TreatAsAtomicUnit off
System {
Name "推进力"
Location [2, 78, 1022, 717]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "T"
Position [25, 43, 55, 57]
}
Block {
BlockType Outport
Name "Tx"
Position [205, 43, 235, 57]
}
Line {
SrcBlock "T"
SrcPort 1
DstBlock "Tx"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "重力"
Ports [3, 3]
Position [310, 80, 350, 210]
TreatAsAtomicUnit off
System {
Name "重力"
Location [2, 82, 1014, 732]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "ψ"
Position [30, 93, 60, 107]
}
Block {
BlockType Inport
Name "Θ"
Position [35, 128, 65, 142]
Port "2"
}
Block {
BlockType Inport
Name "Ф"
Position [30, 163, 60, 177]
Port "3"
}
Block {
BlockType Constant
Name "Constant"
Position [25, 50, 55, 80]
Value "1800"
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