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📄 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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