yuleitougao.mdl

LQR源程序

	      Name		      "S-Function1"
	      Ports		      [1, 1]
	      Position		      [100, 145, 160, 175]
	      FunctionName	      "dongliangfc"
	    }
	    Block {
	      BlockType		      "S-Function"
	      Name		      "S-Function2"
	      Ports		      [1, 1]
	      Position		      [70, 295, 150, 325]
	      FunctionName	      "dongliangjufc"
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "U"
	      Ports		      [1, 1]
	      Position		      [380, 127, 400, 143]
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "V"
	      Ports		      [1, 1]
	      Position		      [345, 152, 365, 168]
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "W"
	      Ports		      [1, 1]
	      Position		      [305, 176, 330, 194]
	    }
	    Block {
	      BlockType		      Outport
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	      Position		      [625, 783, 655, 797]
	    }
	    Block {
	      BlockType		      Outport
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	      Position		      [660, 803, 690, 817]
	      Port		      "2"
	    }
	    Block {
	      BlockType		      Outport
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	      Position		      [690, 823, 720, 837]
	      Port		      "3"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "p"
	      Position		      [625, 908, 655, 922]
	      Port		      "4"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "q"
	      Position		      [655, 928, 685, 942]
	      Port		      "5"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "r"
	      Position		      [690, 948, 720, 962]
	      Port		      "6"
	    }
	    Line {
	      SrcBlock		      "S-Function1"
	      SrcPort		      1
	      DstBlock		      "Demux1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      1
	      Points		      [0, -10; 35, 0]
	      Branch {
		DstBlock		"U"
		DstPort			1
	      }
	      Branch {
		Points			[0, -75]
		DstBlock		"Mux1"
		DstPort			1
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	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      2
	      Points		      [55, 0]
	      Branch {
		DstBlock		"V"
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	      }
	      Branch {
		Points			[0, -75]
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	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      3
	      Points		      [0, 10; 80, 0]
	      Branch {
		DstBlock		"W"
		DstPort			1
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	      Branch {
		Points			[0, -75]
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	    }
	    Line {
	      SrcBlock		      "S-Function2"
	      SrcPort		      1
	      DstBlock		      "Demux2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux2"
	      SrcPort		      1
	      Points		      [0, -10; 15, 0]
	      Branch {
		DstBlock		"P"
		DstPort			1
	      }
	      Branch {
		Points			[0, -75]
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		DstPort			7
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	    }
	    Line {
	      SrcBlock		      "Demux2"
	      SrcPort		      2
	      Points		      [30, 0]
	      Branch {
		DstBlock		"Q"
		DstPort			1
	      }
	      Branch {
		Points			[0, -75]
		DstBlock		"Mux1"
		DstPort			8
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	    }
	    Line {
	      SrcBlock		      "Demux2"
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	      Points		      [0, 10; 60, 0]
	      Branch {
		DstBlock		"R"
		DstPort			1
	      }
	      Branch {
		Points			[0, -75]
		DstBlock		"Mux1"
		DstPort			9
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	    }
	    Line {
	      SrcBlock		      "m"
	      SrcPort		      1
	      Points		      [35, 0]
	      Branch {
		DstBlock		"Math\nFunction"
		DstPort			1
	      }
	      Branch {
		Points			[0, -25]
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		DstPort			16
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	    }
	    Line {
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	      Points		      [15, 0]
	      Branch {
		DstBlock		"Mux1"
		DstPort			4
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	      Branch {
		Points			[40, 0; 0, 655]
		DstBlock		"u"
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	    Line {
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	      Points		      [60, 0]
	      Branch {
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		DstPort			5
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	      Branch {
		Points			[20, 0; 0, 650]
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	    Line {
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	      Points		      [80, 0]
	      Branch {
		DstBlock		"Mux1"
		DstPort			6
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	      Branch {
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	    Line {
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	    Line {
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	      Branch {
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	    Line {
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	      Branch {
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		DstPort			12
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	      Branch {
		Points			[0, 620]
		DstBlock		"r"
		DstPort			1
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	    }
	    Line {
	      SrcBlock		      "Fx"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      13
	    }
	    Line {
	      SrcBlock		      "Fy"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      14
	    }
	    Line {
	      SrcBlock		      "Fz"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      15
	    }
	    Line {
	      SrcBlock		      "Math\nFunction"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      17
	    }
	    Line {
	      SrcBlock		      "Mx"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      18
	    }
	    Line {
	      SrcBlock		      "My"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      19
	    }
	    Line {
	      SrcBlock		      "Mz"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      20
	    }
	    Line {
	      SrcBlock		      "I1"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      21
	    }
	    Line {
	      SrcBlock		      "I2"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      22
	    }
	    Line {
	      SrcBlock		      "I3"
	      SrcPort		      1
	      DstBlock		      "Mux1"
	      DstPort		      23
	    }
	    Line {
	      SrcBlock		      "Constant"
	      SrcPort		      1
	      Points		      [35, 0; 0, -10]
	      DstBlock		      "Mux1"
	      DstPort		      24
	    }
	    Line {
	      SrcBlock		      "Mux1"
	      SrcPort		      1
	      Points		      [90, 0; 0, -340; -540, 0; 0, 145]
	      Branch {
		Points			[0, 5]
		DstBlock		"S-Function1"
		DstPort			1
	      }
	      Branch {
		Points			[0, 155]
		DstBlock		"S-Function2"
		DstPort			1
	      }
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "u"
	  Position		  [325, 53, 355, 67]
	}
	Block {
	  BlockType		  Outport
	  Name			  "v"
	  Position		  [320, 98, 350, 112]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "w"
	  Position		  [320, 143, 350, 157]
	  Port			  "3"
	}
	Block {
	  BlockType		  Outport
	  Name			  "p"
	  Position		  [360, 273, 390, 287]
	  Port			  "4"
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [355, 328, 385, 342]
	  Port			  "5"
	}
	Block {
	  BlockType		  Outport
	  Name			  "r"
	  Position		  [330, 393, 360, 407]
	  Port			  "6"
	}
	Line {
	  SrcBlock		  "Fx"
	  SrcPort		  1
	  DstBlock		  "动力学方程"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fy"
	  SrcPort		  1
	  DstBlock		  "动力学方程"
	  DstPort		  2
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	Line {
	  SrcBlock		  "Fz"
	  SrcPort		  1
	  Points		  [45, 0; 0, -5]
	  DstBlock		  "动力学方程"
	  DstPort		  3
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	Line {
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	  DstBlock		  "动力学方程"
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	  Points		  [45, 0; 0, 5]
	  DstBlock		  "动力学方程"
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	  DstBlock		  "动力学方程"
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	  DstBlock		  "动力学方程"
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	Line {
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	  DstBlock		  "动力学方程"
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	Line {
	  SrcBlock		  "Constant3"
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	  Points		  [15, 0; 0, -10]
	  DstBlock		  "动力学方程"
	  DstPort		  10
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	  SrcBlock		  "动力学方程"
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	  Points		  [20, 0; 0, -5]
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	  SrcBlock		  "动力学方程"
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	  SrcBlock		  "动力学方程"
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	  SrcBlock		  "动力学方程"
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	  SrcBlock		  "动力学方程"
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	  DstBlock		  "动力学方程"
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      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "方向舵力"
      Ports		      [7, 3]
      Position		      [245, 789, 285, 921]
      TreatAsAtomicUnit	      off
      System {
	Name			"方向舵力"
	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		  [85, 168, 115, 182]
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	Block {
	  BlockType		  Inport
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	Block {
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	Block {
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	Block {
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	Block {
	  BlockType		  Inport
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	Block {
	  BlockType		  Inport
	  Name			  "δR\n"
	  Position		  [250, 248, 280, 262]
	  Port			  "7"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [3, 1]
	  Position		  [435, 169, 440, 311]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
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	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [6, 1]
	  Position		  [170, 152, 175, 293]
	  ShowName		  off
	  Inputs		  "6"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "duox\n"
	  Position		  [495, 125, 555, 155]
	  Expr			  "-9.8*u(1)*sin(u(3))"
	}
	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			  "FRx"
	  Position		  [695, 133, 725, 147]
	}
	Block {
	  BlockType		  Outport
	  Name			  "FRy"
	  Position		  [695, 213, 725, 227]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "FRz"
	  Position		  [695, 283, 725, 297]
	  Port			  "3"
	}
	Line {
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	  SrcPort		  1
	  DstBlock		  "FRy"
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	Line {
	  SrcBlock		  "duoz"
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	Line {
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	  Points		  [20, 0; 0, -20]
	  Branch {
	    DstBlock		    "duoy"
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	  Branch {
	    Points		    [0, 70]