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📄 yulei1017.mdl

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	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [4, 1]
	  Position		  [130, 49, 135, 186]
	  ShowName		  off
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "mgx\n"
	  Position		  [190, 25, 250, 55]
	  Expr			  "-9.8*u(1)*sin(u(3))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "mgy"
	  Position		  [195, 105, 255, 135]
	  Expr			  "9.8*u(1)*sin(u(4))*cos(u(3))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "mgz"
	  Position		  [195, 175, 255, 205]
	  Expr			  "9.8*u(1)*cos(u(4))*cos(u(3))"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Fmx"
	  Position		  [390, 33, 420, 47]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Fmy"
	  Position		  [390, 113, 420, 127]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Fmz"
	  Position		  [385, 183, 415, 197]
	  Port			  "3"
	}
	Line {
	  SrcBlock		  "ψ"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Θ"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Ф"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "mgy"
	  SrcPort		  1
	  DstBlock		  "Fmy"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "mgz"
	  SrcPort		  1
	  DstBlock		  "Fmz"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [0, 0; 20, 0]
	  Branch {
	    DstBlock		    "mgy"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 70]
	    DstBlock		    "mgz"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -80]
	    DstBlock		    "mgx\n"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "mgx\n"
	  SrcPort		  1
	  DstBlock		  "Fmx"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "姿态角"
      Ports		      [3, 3]
      Position		      [690, 335, 725, 425]
      TreatAsAtomicUnit	      off
      System {
	Name			"姿态角"
	Location		[2, 82, 1014, 743]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "p"
	  Position		  [25, 238, 55, 252]
	}
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  Position		  [25, 273, 55, 287]
	  Port			  "2"
	}
	Block {
	  BlockType		  Inport
	  Name			  "r"
	  Position		  [25, 308, 55, 322]
	  Port			  "3"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn"
	  Position		  [280, 215, 340, 245]
	  Expr			  "cos(u(3))*u(5)-sin(u(3))*u(6)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn1"
	  Position		  [275, 140, 335, 170]
	  Expr			  "sin(u(3))/cos(u(2))*u(5)+cos(u(3))/cos(u(2)"
")*u(6)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn2"
	  Position		  [275, 275, 335, 305]
	  Expr			  "u(4)+sin(u(3))*tan(u(2))*u(5)+cos(u(3))*tan"
"(u(2))*u(6)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [425, 139, 460, 171]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [420, 214, 455, 246]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator2"
	  Ports			  [1, 1]
	  Position		  [430, 274, 465, 306]
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [6, 1]
	  Position		  [150, 124, 155, 331]
	  ShowName		  off
	  Inputs		  "6"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Ψ"
	  Position		  [615, 148, 645, 162]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Θ"
	  Position		  [615, 223, 645, 237]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Φ"
	  Position		  [620, 283, 650, 297]
	  Port			  "3"
	}
	Line {
	  SrcBlock		  "p"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  5
	}
	Line {
	  SrcBlock		  "r"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  6
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [50, 0]
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "Fcn2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -75]
	    DstBlock		    "Fcn1"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Fcn"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Fcn2"
	  SrcPort		  1
	  DstBlock		  "Integrator2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn"
	  SrcPort		  1
	  DstBlock		  "Integrator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn1"
	  SrcPort		  1
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [20, 0]
	  Branch {
	    DstBlock		    "Ψ"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -55; -350, 0]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [50, 0]
	  Branch {
	    DstBlock		    "Θ"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -165; -400, 0; 0, 110]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Integrator2"
	  SrcPort		  1
	  Points		  [75, 0]
	  Branch {
	    DstBlock		    "Φ"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -245; -455, 0; 0, 165]
	    DstBlock		    "Mux"
	    DstPort		    3
	  }
	}
      }
    }
    Line {
      SrcBlock		      "动力学方程"
      SrcPort		      4
      Points		      [55, 0; 0, 10]
      DstBlock		      "姿态角"
      DstPort		      1
    }
    Line {
      SrcBlock		      "动力学方程"
      SrcPort		      5
      Points		      [55, 0; 0, -5]
      DstBlock		      "姿态角"
      DstPort		      2
    }
    Line {
      SrcBlock		      "动力学方程"
      SrcPort		      6
      Points		      [55, 0; 0, -20]
      DstBlock		      "姿态角"
      DstPort		      3
    }
    Line {
      SrcBlock		      "姿态角"
      SrcPort		      1
      Points		      [0, 0; 25, 0]
      Branch {
	DstBlock		"空间坐标"
	DstPort			4
      }
      Branch {
	Points			[-25, 0; 0, -280; -435, 0]
	DstBlock		"重力"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "姿态角"
      SrcPort		      2
      Points		      [0, 0; 15, 0]
      Branch {
	Points			[5, 0; 0, -5]
	DstBlock		"空间坐标"
	DstPort			5
      }
      Branch {
	Points			[0, -315; -460, 0; 0, 80]
	DstBlock		"重力"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "姿态角"
      SrcPort		      3
      Points		      [20, 0; 0, -10; 5, 0]
      Branch {
	DstBlock		"空间坐标"
	DstPort			6
      }
      Branch {
	Points			[0, -340; -480, 0; 0, 130]
	DstBlock		"重力"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "动力学方程"
      SrcPort		      1
      Points		      [0, 0; 10, 0]
      Branch {
	Points			[95, 0; 0, 70]
	DstBlock		"空间坐标"
	DstPort			1
      }
      Branch {
	Points			[0, -150; -305, 0; 0, 270]
	DstBlock		"空化器力"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "动力学方程"
      SrcPort		      2
      Points		      [0, 0; 25, 0]
      Branch {
	Points			[70, 0; 0, 50]
	DstBlock		"空间坐标"
	DstPort			2
      }
      Branch {
	Points			[0, -205; -330, 0; 0, 300]
	DstBlock		"空化器力"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "动力学方程"
      SrcPort		      3
      Points		      [0, 0; 35, 0]
      Branch {
	Points			[50, 0; 0, 30]
	DstBlock		"空间坐标"
	DstPort			3
      }
      Branch {
	Points			[0, -260; -350, 0; 0, 330]
	DstBlock		"空化器力"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "重力"
      SrcPort		      1
      Points		      [0, 20]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [10, 0]
      DstBlock		      "动力学方程"
      DstPort		      1
    }
    Line {
      SrcBlock		      "推进力"
      SrcPort		      1
      Points		      [15, 0; 0, -125]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "空化器力"
      SrcPort		      1
      Points		      [0, 0; 10, 0]
      Branch {
	Points			[25, 0; 0, -190]
	DstBlock		"Sum1"
	DstPort			3
      }
      Branch {
	Points			[0, 115]
	DstBlock		"空化器力矩"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [0, 60]
      DstBlock		      "动力学方程"
      DstPort		      2
    }
    Line {
      SrcBlock		      "重力"
      SrcPort		      2
      Points		      [5, 0; 0, 35]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "空化器力"
      SrcPort		      2
      Points		      [0, 0; 20, 0]
      Branch {
	Points			[25, 0; 0, -185]
	DstBlock		"Sum3"
	DstPort			2
      }
      Branch {
	Points			[0, 100]
	DstBlock		"空化器力矩"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "动力学方程"
      DstPort		      3
    }
    Line {
      SrcBlock		      "空化器力"
      SrcPort		      3
      Points		      [0, 0; 30, 0]
      Branch {
	Points			[55, 0]
	DstBlock		"Sum2"
	DstPort			2
      }
      Branch {
	Points			[0, 85]
	DstBlock		"空化器力矩"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "重力"
      SrcPort		      3
      Points		      [10, 0; 0, 95]
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "空化器力矩"
      SrcPort		      1
      Points		      [20, 0; 0, -130]
      DstBlock		      "动力学方程"
      DstPort		      4
    }
    Line {
      SrcBlock		      "空化器力矩"
      SrcPort		      2
      Points		      [30, 0; 0, -145]
      DstBlock		      "动力学方程"
      DstPort		      5
    }
    Line {
      SrcBlock		      "空化器力矩"
      SrcPort		      3
      Points		      [40, 0]
      DstBlock		      "动力学方程"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "推进力"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      Points		      [0, 0; 125, 0]
      Branch {
	DstBlock		"空化器力"
	DstPort			4
      }
      Branch {
	Points			[0, 190]
	DstBlock		"空化器力矩"
	DstPort			5
      }
    }
    Line {
      SrcBlock		      "Constant2"
      SrcPort		      1
      DstBlock		      "空化器力"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Constant3"
      SrcPort		      1
      Points		      [135, 0; 0, -15]
      DstBlock		      "空化器力"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Constant4"
      SrcPort		      1
      Points		      [5, 0; 0, -25]
      DstBlock		      "空化器力"
      DstPort		      7
    }
    Line {
      SrcBlock		      "Constant5"
      SrcPort		      1
      Points		      [160, 0]
      DstBlock		      "空化器力矩"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Constant6"
      SrcPort		      1
      Points		      [75, 0; 0, 5]
      DstBlock		      "空化器力矩"
      DstPort		      6
    }
    Line {
      SrcBlock		      "空间坐标"
      SrcPort		      1
      Points		      [30, 0; 0, 10]
      DstBlock		      "XY Graph"
      DstPort		      1
    }
    Line {
      SrcBlock		      "空间坐标"
      SrcPort		      2
      Points		      [30, 0; 0, -25]
      DstBlock		      "XY Graph"
      DstPort		      2
    }
  }
}

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