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Block {
BlockType Fcn
Name "duoy"
Position [500, 205, 560, 235]
Expr "9.8*u(1)*sin(u(4))*cos(u(3))"
}
Block {
BlockType Fcn
Name "duoz"
Position [500, 275, 560, 305]
Expr "9.8*u(1)*cos(u(4))*cos(u(3))"
}
Block {
BlockType Fcn
Name "α"
Position [305, 169, 385, 201]
Expr "tan(u(3)/u(1))"
}
Block {
BlockType Fcn
Name "β"
Position [260, 205, 320, 235]
Expr "-u(2)/(sqrt(u(1)*u(1)+u(2)*u(2)*u(3)*u(3)))"
}
Block {
BlockType Outport
Name "Fd1x"
Position [695, 133, 725, 147]
}
Block {
BlockType Outport
Name "Fd1y"
Position [695, 213, 725, 227]
Port "2"
}
Block {
BlockType Outport
Name "Fd1z"
Position [695, 283, 725, 297]
Port "3"
}
Line {
SrcBlock "duoy"
SrcPort 1
DstBlock "Fd1y"
DstPort 1
}
Line {
SrcBlock "duoz"
SrcPort 1
DstBlock "Fd1z"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [20, 0; 0, -20]
Branch {
DstBlock "duoy"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "duoz"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "duox\n"
DstPort 1
}
}
Line {
SrcBlock "duox\n"
SrcPort 1
DstBlock "Fd1x"
DstPort 1
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "v"
SrcPort 1
Points [10, 0; 0, -5]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "w"
SrcPort 1
Points [15, 0; 0, 5]
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "β"
DstPort 1
}
Branch {
Points [0, -35]
DstBlock "α"
DstPort 1
}
}
Line {
SrcBlock "α"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "β"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "dj"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "hl"
SrcPort 1
DstBlock "Mux1"
DstPort 4
}
}
}
Block {
BlockType SubSystem
Name "推进力"
Ports [1, 1]
Position [660, 159, 685, 221]
TreatAsAtomicUnit off
System {
Name "推进力"
Location [497, 460, 879, 591]
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, 38, 55, 52]
}
Block {
BlockType Math
Name "Math\nFunction"
Ports [1, 1]
Position [80, 29, 110, 61]
Operator "reciprocal"
}
Block {
BlockType Math
Name "Math\nFunction1"
Ports [1, 1]
Position [130, 29, 160, 61]
Operator "reciprocal"
}
Block {
BlockType Outport
Name "Tx"
Position [190, 38, 220, 52]
}
Line {
SrcBlock "T"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
DstBlock "Math\nFunction1"
DstPort 1
}
Line {
SrcBlock "Math\nFunction1"
SrcPort 1
DstBlock "Tx"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "运动学方程\n"
Ports [6, 6]
Position [935, 389, 955, 596]
TreatAsAtomicUnit off
System {
Name "运动学方程\n"
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 "p"
Position [150, 138, 180, 152]
}
Block {
BlockType Inport
Name "q"
Position [95, 163, 125, 177]
Port "2"
}
Block {
BlockType Inport
Name "r"
Position [55, 188, 85, 202]
Port "3"
}
Block {
BlockType Inport
Name "u"
Position [190, 213, 220, 227]
Port "4"
}
Block {
BlockType Inport
Name "v"
Position [150, 238, 180, 252]
Port "5"
}
Block {
BlockType Inport
Name "w"
Position [115, 263, 145, 277]
Port "6"
}
Block {
BlockType SubSystem
Name "运动学方程\n"
Ports [6, 6]
Position [390, 119, 450, 276]
TreatAsAtomicUnit off
System {
Name "运动学方程\n"
Location [2, 75, 877, 507]
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, 163, 55, 177]
}
Block {
BlockType Inport
Name "q"
Position [30, 193, 60, 207]
Port "2"
}
Block {
BlockType Inport
Name "r"
Position [30, 223, 60, 237]
Port "3"
}
Block {
BlockType Inport
Name "u"
Position [405, 33, 435, 47]
Port "4"
}
Block {
BlockType Inport
Name "v"
Position [440, 58, 470, 72]
Port "5"
}
Block {
BlockType Inport
Name "w"
Position [470, 83, 500, 97]
Port "6"
}
Block {
BlockType Integrator
Name "FAI"
Ports [1, 1]
Position [375, 275, 405, 305]
}
Block {
BlockType Fcn
Name "Fcn1"
Position [245, 135, 305, 165]
Expr "(u(2)*cos(u(6))-u(3)*sin(u(6)))/cos(u(5"
"))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [245, 210, 305, 240]
Expr "u(2)*sin(u(6))+u(3)*cos(u(6))"
}
Block {
BlockType Fcn
Name "Fcn3"
Position [245, 275, 305, 305]
Expr "u(1)-u(2)*tan(u(5))*cos(u(6))+u(3)*tan("
"u(5))*sin(u(6))"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [760, 50, 790, 80]
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [765, 130, 795, 160]
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [765, 200, 795, 230]
}
Block {
BlockType Mux
Name "Mux"
Ports [6, 1]
Position [145, 152, 155, 338]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [6, 1]
Position [545, 26, 555, 179]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Integrator
Name "PESI"
Ports [1, 1]
Position [375, 135, 405, 165]
}
Block {
BlockType Integrator
Name "SITA"
Ports [1, 1]
Position [375, 210, 405, 240]
}
Block {
BlockType Fcn
Name "VX\n"
Position [620, 50, 680, 80]
Expr "u(1)*cos(u(4))*cos(u(5))+u(2)*(sin(u(4)"
")*sin(u(6))-sin(u(6))*cos(u(4))*cos(u(6)))+u(3)*(sin(u(4))*cos(u(6))+sin(u(5)"
")*cos(u(4))*sin(u(6)))"
}
Block {
BlockType Fcn
Name "VY"
Position [625, 130, 685, 160]
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 [625, 200, 685, 230]
Expr "-u(1)*sin(u(4))*cos(u(5))+u(2)*(cos(u(4"
"))*sin(u(6))+sin(u(5))*sin(u(4))*cos(u(6)))+u(3)*(cos(u(4))*cos(u(6))-sin(u(5"
"))*sin(u(4))*sin(u(6)))"
}
Block {
BlockType Outport
Name "Ф"
Position [470, 368, 500, 382]
}
Block {
BlockType Outport
Name "X"
Position [820, 63, 850, 77]
Port "2"
}
Block {
BlockType Outport
Name "Y"
Position [820, 138, 850, 152]
Port "3"
}
Block {
BlockType Outport
Name "Z"
Position [820, 208, 850, 222]
Port "4"
}
Block {
BlockType Outport
Name "ψ"
Position [470, 308, 500, 322]
Port "5"
}
Block {
BlockType Outport
Name "Θ"
Position [475, 338, 505, 352]
Port "6"
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [45, 0; 0, -5]
Branch {
Points [0, 50]
DstBlock "Fcn3"
DstPort 1
}
Branch {
Points [0, -10]
Branch {
Points [0, -80]
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, -5]
DstBlock "Fcn2"
DstPort 1
}
}
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock "PESI"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "SITA"
DstPort 1
}
Line {
SrcBlock "Fcn3"
SrcPort 1
DstBlock "FAI"
DstPort 1
}
Line {
SrcBlock "SITA"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 125]
Branch {
Points [0, 35; -310, 0; 0, -95]
DstBlock "Mux"
DstPort 5
}
Branch {
Points [0, -5]
DstBlock "Θ"
DstPort 1
}
}
Branch {
Points [50, 0; 0, -85]
DstBlock "Mux1"
DstPort 5
}
}
Line {
SrcBlock "PESI"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 160]
Branch {
Points [0, 95; -350, 0; 0, -145]
DstBlock "Mux"
DstPort 4
}
Branch {
Points [0, 5]
DstBlock "ψ"
DstPort 1
}
}
Branch {
Points [0, -35]
DstBlock "Mux1"
DstPort 4
}
}
Line {
SrcBlock "FAI"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 85]
Branch {
Points [-295, 0; 0, -55]
DstBlock "Mux"
DstPort 6
}
Branch {
DstBlock "Ф"
DstPort 1
}
}
Branch {
Points [115, 0]
DstBlock "Mux1"
DstPort 6
}
}
Line {
SrcBlock "r"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "p"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "w"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "v"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 5]
DstBlock "X"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Y"
DstPort 1
}
Line {
SrcBlock "Integrator2"
SrcPort 1
DstBlock "Z"
DstPort 1
}
Line {
SrcBlock "Mux1"
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