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SrcPort 1
Points [25, 0; 0, 40]
Branch {
DstBlock "VY"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "VX\n"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "VZ"
DstPort 1
}
}
Line {
SrcBlock "VZ"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "VY"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "VX\n"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "ψ"
Position [685, 228, 715, 242]
}
Block {
BlockType Outport
Name "Θ"
Position [615, 253, 645, 267]
Port "2"
}
Block {
BlockType Outport
Name "Ф"
Position [575, 128, 605, 142]
Port "3"
}
Block {
BlockType Outport
Name "X"
Position [785, 153, 815, 167]
Port "4"
}
Block {
BlockType Outport
Name "Y"
Position [675, 178, 705, 192]
Port "5"
}
Block {
BlockType Outport
Name "Z"
Position [585, 203, 615, 217]
Port "6"
}
Line {
SrcBlock "运动学方程\n"
SrcPort 2
DstBlock "X"
DstPort 1
}
Line {
SrcBlock "运动学方程\n"
SrcPort 3
DstBlock "Y"
DstPort 1
}
Line {
SrcBlock "p"
SrcPort 1
Points [190, 0]
DstBlock "运动学方程\n"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
Points [245, 0]
DstBlock "运动学方程\n"
DstPort 2
}
Line {
SrcBlock "运动学方程\n"
SrcPort 4
DstBlock "Z"
DstPort 1
}
Line {
SrcBlock "r"
SrcPort 1
Points [285, 0]
DstBlock "运动学方程\n"
DstPort 3
}
Line {
SrcBlock "u"
SrcPort 1
Points [150, 0]
DstBlock "运动学方程\n"
DstPort 4
}
Line {
SrcBlock "v"
SrcPort 1
Points [190, 0]
DstBlock "运动学方程\n"
DstPort 5
}
Line {
SrcBlock "w"
SrcPort 1
Points [225, 0]
DstBlock "运动学方程\n"
DstPort 6
}
Line {
SrcBlock "运动学方程\n"
SrcPort 1
DstBlock "Ф"
DstPort 1
}
Line {
SrcBlock "运动学方程\n"
SrcPort 5
DstBlock "ψ"
DstPort 1
}
Line {
SrcBlock "运动学方程\n"
SrcPort 6
DstBlock "Θ"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "重力"
Ports [4, 3]
Position [600, 231, 630, 364]
TreatAsAtomicUnit off
System {
Name "重力"
Location [362, 200, 807, 432]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "ψ"
Position [25, 93, 55, 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 Inport
Name "m"
Position [30, 58, 60, 72]
Port "4"
}
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 [390, 183, 420, 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 "m"
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 "姿态角方程"
Ports [3, 6]
Position [500, 228, 535, 317]
TreatAsAtomicUnit off
System {
Name "姿态角方程"
Location [2, 82, 1014, 752]
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(1))*u(5)-sin(u(1))*u(6)"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [275, 140, 335, 170]
Expr "u(4)+sin(u(1))*tan(u(2))*u(5)+cos(u(1))*tan"
"(u(2))*u(6)"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [275, 275, 335, 305]
Expr "sin(u(1))/cos(u(2))*u(5)+cos(u(1))/cos(u(2)"
")*u(6)"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [555, 144, 590, 176]
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [555, 204, 590, 236]
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [555, 269, 590, 301]
}
Block {
BlockType Mux
Name "Mux"
Ports [6, 1]
Position [150, 124, 155, 331]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "Φ"
Position [675, 153, 705, 167]
}
Block {
BlockType Outport
Name "Θ"
Position [680, 213, 710, 227]
Port "2"
}
Block {
BlockType Outport
Name "Ψ"
Position [675, 278, 705, 292]
Port "3"
}
Block {
BlockType Outport
Name "Φ'"
Position [665, 378, 695, 392]
Port "4"
}
Block {
BlockType Outport
Name "Θ'"
Position [670, 438, 700, 452]
Port "5"
}
Block {
BlockType Outport
Name "Ψ'"
Position [665, 503, 695, 517]
Port "6"
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Φ"
DstPort 1
}
Branch {
Points [0, -75; -465, 0]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
DstBlock "Θ"
DstPort 1
}
Branch {
Points [0, -165; -505, 0; 0, 120]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [0, 0; 50, 0]
Branch {
DstBlock "Ψ"
DstPort 1
}
Branch {
Points [0, -255; -555, 0; 0, 180]
DstBlock "Mux"
DstPort 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
Points [100, 0]
Branch {
Points [0, -5]
DstBlock "Integrator2"
DstPort 1
}
Branch {
Points [0, 220]
DstBlock "Ψ'"
DstPort 1
}
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [95, 0; 0, -10; 25, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, 225]
DstBlock "Θ'"
DstPort 1
}
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [100, 0; 0, 5; 50, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 225]
DstBlock "Φ'"
DstPort 1
}
}
}
}
Line {
SrcBlock "动力学方程"
SrcPort 8
DstBlock "姿态角方程"
DstPort 2
}
Line {
SrcBlock "动力学方程"
SrcPort 9
Points [35, 0; 0, 10]
DstBlock "姿态角方程"
DstPort 3
}
Line {
SrcBlock "动力学方程"
SrcPort 7
Points [35, 0; 0, -10]
DstBlock "姿态角方程"
DstPort 1
}
Line {
SrcBlock "动力学方程"
SrcPort 1
Points [0, 10]
DstBlock "空间坐标"
DstPort 1
}
Line {
SrcBlock "动力学方程"
SrcPort 2
DstBlock "空间坐标"
DstPort 2
}
Line {
SrcBlock "动力学方程"
SrcPort 3
Points [0, -10]
DstBlock "空间坐标"
DstPort 3
}
Line {
SrcBlock "姿态角方程"
SrcPort 2
Points [10, 0; 0, -65]
DstBlock "空间坐标"
DstPort 5
}
Line {
SrcBlock "姿态角方程"
SrcPort 1
Points [15, 0]
DstBlock "空间坐标"
DstPort 6
}
Line {
SrcBlock "姿态角方程"
SrcPort 3
Points [5, 0; 0, -90]
DstBlock "空间坐标"
DstPort 4
}
}
}
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