📄 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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