zongti.mdl

LQR源程序

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    Block {
      BlockType		      SubSystem
      Name		      "空化器力"
      Ports		      [5, 3]
      Position		      [495, 345, 535, 475]
      TreatAsAtomicUnit	      off
      System {
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	  Name			  "αc"
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	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "khx\n"
	  Position		  [495, 125, 555, 155]
	  Expr			  "-100*cos(u(2))*cos(u(1))*0.5*1003*(u(7))*(u"
"(1)*u(1)+u(2)*u(2)+u(3)*u(3))*cos(u(3))*cos(u(3))+100*sin(u(1))*0.5*1003*(u(7"
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	}
	Block {
	  BlockType		  Fcn
	  Name			  "khy"
	  Position		  [500, 205, 560, 235]
	  Expr			  "100*sin(u(2))*0.5*1003*(u(7))*(u(1)*u(1)+u("
"2)*u(2)+u(3)*u(3))*cos(u(3))*cos(u(3))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "khz"
	  Position		  [500, 275, 560, 305]
	  Expr			  "-100*cos(u(2))*sin(u(1))*0.5*1003*(u(7))*(u"
"(1)*u(1)+u(2)*u(2)+u(3)*u(3))*cos(u(3))*cos(u(3))-100*cos(u(1))*0.5*1003*(u(7"
"))*(u(1)*u(1)+u(2)*u(2)+u(3)*u(3))*cos(u(3))*cos(u(3))*sin(u(3))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "α"
	  Position		  [270, 134, 350, 166]
	  Expr			  "tan(u(3)/u(1))"
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	  BlockType		  Fcn
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	  Position		  [235, 185, 295, 215]
	  Expr			  "-u(2)/(sqrt((u(1)*u(1)+u(2)*u(2)+u(3)*u(3))"
"))"
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	  BlockType		  Outport
	  Name			  "Fkx"
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	  Position		  [695, 213, 725, 227]
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	  SrcPort		  1
	  DstBlock		  "Fkz"
	  DstPort		  1
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	  SrcPort		  1
	  Points		  [5, 0; 0, -45; 15, 0]
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	    DstBlock		    "khy"
	    DstPort		    1
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	  Branch {
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	    DstBlock		    "khz"
	    DstPort		    1
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	  DstPort		  1
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	  Points		  [20, 0]
	  Branch {
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	    DstBlock		    "Mux2"
	    DstPort		    1
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	    Points		    [0, 90]
	    DstBlock		    "Mux1"
	    DstPort		    4
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	  Points		  [35, 0]
	  Branch {
	    Points		    [30, 0; 0, -35]
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	    DstPort		    2
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	  Branch {
	    Points		    [0, 60]
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	    DstPort		    5
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	  SrcPort		  1
	  Points		  [35, 0]
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	    DstBlock		    "Mux2"
	    DstPort		    3
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	  Branch {
	    Points		    [0, 45]
	    DstBlock		    "Mux1"
	    DstPort		    6
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	  SrcPort		  1
	  Points		  [0, 30; 30, 0]
	  Branch {
	    Points		    [10, 0]
	    DstBlock		    "β"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -70]
	    DstBlock		    "α"
	    DstPort		    1
	  }
	}
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	  SrcPort		  1
	  Points		  [65, 0]
	  DstBlock		  "Mux1"
	  DstPort		  1
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	  Points		  [0, 25]
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	  DstPort		  2
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	Line {
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	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  3
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	Line {
	  SrcBlock		  "SAc"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  7
	}
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    }
    Block {
      BlockType		      SubSystem
      Name		      "空间坐标"
      Ports		      [6, 3]
      Position		      [570, 134, 610, 206]
      TreatAsAtomicUnit	      off
      System {
	Name			"空间坐标"
	Location		[2, 74, 1014, 724]
	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]
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	Block {
	  BlockType		  Inport
	  Name			  "v"
	  Position		  [190, 128, 220, 142]
	  Port			  "2"
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	Block {
	  BlockType		  Inport
	  Name			  "w"
	  Position		  [145, 153, 175, 167]
	  Port			  "3"
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	Block {
	  BlockType		  Inport
	  Name			  "ψ"
	  Position		  [220, 178, 250, 192]
	  Port			  "4"
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	  Name			  "Θ"
	  Position		  [245, 203, 275, 217]
	  Port			  "5"
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	  Name			  "Ф"
	  Position		  [210, 228, 240, 242]
	  Port			  "6"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator3"
	  Ports			  [1, 1]
	  Position		  [560, 120, 590, 150]
	}
	Block {
	  BlockType		  Integrator
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	  Ports			  [1, 1]
	  Position		  [565, 200, 595, 230]
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	Block {
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	  Name			  "Integrator5"
	  Ports			  [1, 1]
	  Position		  [565, 270, 595, 300]
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	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "VX\n"
	  Position		  [420, 120, 480, 150]
	  Expr			  "u(1)*cos(u(4))*cos(u(5))+u(2)*(sin(u(4))*si"
"n(u(6))-sin(u(6))*cos(u(4))*cos(u(6)))+u(3)*(sin(u(4))*cos(u(6))+sin(u(5))*co"
"s(u(4))*sin(u(6)))"
	}
	Block {
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	  Position		  [425, 200, 485, 230]
	  Expr			  "u(1)*sin(u(5))+u(2)*cos(u(5))*cos(u(6))-u(3"
")*cos(u(5))*sin(u(6))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "VZ"
	  Position		  [425, 270, 485, 300]
	  Expr			  "-u(1)*sin(u(4))*cos(u(5))+u(2)*(cos(u(4))*s"
"in(u(6))+sin(u(5))*sin(u(4))*cos(u(6)))+u(3)*(cos(u(4))*cos(u(6))-sin(u(5))*s"
"in(u(4))*sin(u(6)))"
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	Block {
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	  Position		  [620, 133, 650, 147]
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	Block {
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	Block {
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	  Position		  [620, 278, 650, 292]
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	  DstPort		  1
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	  DstBlock		  "Mux1"
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	  DstPort		  1
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	  Points		  [30, 0; 0, 40]
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	  Branch {
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	    DstBlock		    "VZ"
	    DstPort		    1
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	  DstBlock		  "Integrator4"
	  DstPort		  1
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	Line {
	  SrcBlock		  "VX\n"
	  SrcPort		  1
	  DstBlock		  "Integrator3"
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	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  5
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	Line {
	  SrcBlock		  "Ф"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  6
	}
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    }
    Block {
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      Ports		      [5, 3]
      Position		      [360, 385, 400, 515]
      TreatAsAtomicUnit	      off
      System {
	Name			"升降舵1"
	Location		[2, 74, 1014, 724]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"125"
	Block {
	  BlockType		  Inport
	  Name			  "u"
	  Position		  [85, 168, 115, 182]
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	Block {
	  BlockType		  Inport
	  Name			  "v"
	  Position		  [95, 218, 125, 232]
	  Port			  "2"
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	Block {
	  BlockType		  Inport
	  Name			  "w"
	  Position		  [85, 253, 115, 267]
	  Port			  "3"
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	Block {
	  BlockType		  Inport
	  Name			  "dj"
	  Position		  [250, 248, 280, 262]
	  Port			  "4"
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	Block {
	  BlockType		  Inport
	  Name			  "hl"
	  Position		  [260, 283, 290, 297]
	  Port			  "5"
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	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [4, 1]
	  Position		  [435, 167, 440, 308]
	  ShowName		  off
	  DisplayOption		  "bar"
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	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [3, 1]
	  Position		  [170, 150, 175, 290]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "duox\n"
	  Position		  [495, 125, 555, 155]
	  Expr			  "-9.8*u(1)*sin(u(3))"
	}