yuleitougao.mdl

LQR源程序

	Block {
	  BlockType		  Inport
	  Name			  "Xc"
	  Position		  [285, 278, 315, 292]
	  Port			  "4"
	}
	Block {
	  BlockType		  Inport
	  Name			  "δc"
	  Position		  [275, 318, 305, 332]
	  Port			  "5"
	}
	Block {
	  BlockType		  Inport
	  Name			  "δcp"
	  Position		  [290, 358, 320, 372]
	  Port			  "6"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [6, 1]
	  Position		  [435, 148, 445, 382]
	  ShowName		  off
	  Inputs		  "6"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "x\n"
	  Position		  [500, 140, 560, 170]
	  Expr			  "u(2)*sin(u(5))*u(6)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "y"
	  Position		  [500, 205, 560, 235]
	  Expr			  "u(1)*sin(u(5))*(-u(6))-u(3)*(u(4)+cos(u(5))"
"*(u(6)))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "z"
	  Position		  [500, 275, 560, 305]
	  Expr			  "u(2)*(u(4)+cos(u(5))*(u(6)))"
	}
	Block {
	  BlockType		  Outport
	  Name			  "MRx"
	  Position		  [695, 148, 725, 162]
	}
	Block {
	  BlockType		  Outport
	  Name			  "MRy"
	  Position		  [695, 213, 725, 227]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "MRz"
	  Position		  [695, 283, 725, 297]
	  Port			  "3"
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  DstBlock		  "MRy"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "z"
	  SrcPort		  1
	  DstBlock		  "MRz"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [0, -45; 15, 0]
	  Branch {
	    DstBlock		    "y"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 70]
	    DstBlock		    "z"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -65]
	    DstBlock		    "x\n"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "x\n"
	  SrcPort		  1
	  DstBlock		  "MRx"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcx"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcy"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Fcz"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Xc"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "δc"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  5
	}
	Line {
	  SrcBlock		  "δcp"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  6
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "空间坐标"
      Ports		      [6, 3]
      Position		      [770, 305, 810, 450]
      TreatAsAtomicUnit	      off
      System {
	Name			"空间坐标"
	Location		[2, 82, 1014, 732]
	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]
	}
	Block {
	  BlockType		  Inport
	  Name			  "v"
	  Position		  [190, 128, 220, 142]
	  Port			  "2"
	}
	Block {
	  BlockType		  Inport
	  Name			  "w"
	  Position		  [145, 153, 175, 167]
	  Port			  "3"
	}
	Block {
	  BlockType		  Inport
	  Name			  "ψ"
	  Position		  [195, 178, 225, 192]
	  Port			  "4"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Θ"
	  Position		  [245, 203, 275, 217]
	  Port			  "5"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Ф"
	  Position		  [205, 228, 235, 242]
	  Port			  "6"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator3"
	  Ports			  [1, 1]
	  Position		  [560, 85, 590, 115]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator4"
	  Ports			  [1, 1]
	  Position		  [565, 160, 595, 190]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator5"
	  Ports			  [1, 1]
	  Position		  [565, 235, 595, 265]
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [6, 1]
	  Position		  [340, 96, 350, 249]
	  ShowName		  off
	  Inputs		  "6"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "VX\n"
	  Position		  [420, 85, 480, 115]
	  Expr			  "u(1)*cos(u(4))*cos(u(5))+u(2)*(sin(u(6))*co"
"s(u(4))*sin(u(5))-sin(u(4))*cos(u(6)))+u(3)*(sin(u(5))*cos(u(4))*cos(u(6))+si"
"n(u(4))*sin(u(6)))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "VY"
	  Position		  [425, 160, 485, 190]
	  Expr			  "u(1)*sin(u(4))*cos(u(5))+u(2)*(cos(u(4))*co"
"s(u(6))+sin(u(5))*sin(u(4))*sin(u(6)))+u(3)*(sin(u(5))*sin(u(4))*cos(u(6))-co"
"s(u(4))*sin(u(6)))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "VZ"
	  Position		  [425, 235, 485, 265]
	  Expr			  "-u(1)*sin(u(5))+u(2)*cos(u(5))*sin(u(6))+u("
"3)*cos(u(5))*cos(u(6))"
	}
	Block {
	  BlockType		  Outport
	  Name			  "X"
	  Position		  [620, 98, 650, 112]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Y"
	  Position		  [625, 168, 655, 182]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Z"
	  Position		  [620, 243, 650, 257]
	  Port			  "3"
	}
	Line {
	  SrcBlock		  "u"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  Labels		  [1, 0]
	  SrcBlock		  "v"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Integrator3"
	  SrcPort		  1
	  Points		  [0, 5]
	  DstBlock		  "X"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator4"
	  SrcPort		  1
	  DstBlock		  "Y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator5"
	  SrcPort		  1
	  DstBlock		  "Z"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [30, 0; 0, 40]
	  Branch {
	    Points		    [0, -40]
	    DstBlock		    "VY"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -115]
	    DstBlock		    "VX\n"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 35]
	    DstBlock		    "VZ"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "VZ"
	  SrcPort		  1
	  DstBlock		  "Integrator5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "VY"
	  SrcPort		  1
	  DstBlock		  "Integrator4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "VX\n"
	  SrcPort		  1
	  DstBlock		  "Integrator3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "w"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "ψ"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "Θ"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  5
	}
	Line {
	  SrcBlock		  "Ф"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  6
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "升降舵力"
      Ports		      [7, 3]
      Position		      [110, 794, 150, 926]
      TreatAsAtomicUnit	      off
      System {
	Name			"升降舵力"
	Location		[2, 82, 1014, 732]
	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]
	}
	Block {
	  BlockType		  Inport
	  Name			  "v"
	  Position		  [55, 198, 85, 212]
	  Port			  "2"
	}
	Block {
	  BlockType		  Inport
	  Name			  "w"
	  Position		  [45, 228, 75, 242]
	  Port			  "3"
	}
	Block {
	  BlockType		  Inport
	  Name			  "u'"
	  Position		  [75, 258, 105, 272]
	  Port			  "4"
	}
	Block {
	  BlockType		  Inport
	  Name			  "v'"
	  Position		  [75, 298, 105, 312]
	  Port			  "5"
	}
	Block {
	  BlockType		  Inport
	  Name			  "w'"
	  Position		  [120, 333, 150, 347]
	  Port			  "6"
	}
	Block {
	  BlockType		  Inport
	  Name			  "δE\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"
	}
	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			  "FEx"
	  Position		  [695, 133, 725, 147]
	}
	Block {
	  BlockType		  Outport
	  Name			  "FEy"
	  Position		  [695, 213, 725, 227]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "FEz"
	  Position		  [695, 283, 725, 297]
	  Port			  "3"
	}
	Line {
	  SrcBlock		  "duoy"
	  SrcPort		  1
	  DstBlock		  "FEy"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "duoz"
	  SrcPort		  1
	  DstBlock		  "FEz"
	  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		  "FEx"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "u"
	  SrcPort		  1
	  Points		  [35, 0]
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "v"
	  SrcPort		  1
	  Points		  [50, 0; 0, -20]
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "w"
	  SrcPort		  1
	  Points		  [55, 0; 0, -25]
	  DstBlock		  "Mux2"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  Points		  [0, -5; 30, 0]
	  Branch {
	    DstBlock		    "β"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -35]
	    DstBlock		    "α"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "α"
	  SrcPort		  1
	  Points		  [30, 0]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "β"
	  SrcPort		  1
	  Points		  [95, 0]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "δE\n"
	  SrcPort		  1
	  Points		  [135, 0]
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "u'"
	  SrcPort		  1
	  Points		  [45, 0]
	  DstBlock		  "Mux2"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "v'"
	  SrcPort		  1
	  Points		  [45, 0]
	  DstBlock		  "Mux2"
	  DstPort		  5
	}
	Line {
	  SrcBlock		  "w'"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  6
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "升降舵力矩"
      Ports		      [7, 3]
      Position		      [450, 749, 490, 881]
      TreatAsAtomicUnit	      off
      System {
	Name			"升降舵力矩"
	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		  [70, 123, 100, 137]
	}
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  Position		  [50, 183, 80, 197]
	  Port			  "2"
	}
	Block {
	  BlockType		  Inport
	  Name			  "r"
	  Position		  [35, 218, 65, 232]
	  Port			  "3"
	}
	Block {
	  BlockType		  Inport
	  Name			  "p'"
	  Position		  [85, 238, 115, 252]
	  Port			  "4"
	}