📄 kalman_filter_simulation.mdl
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Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [190, 525, 195, 585]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux3"
Ports [2, 1]
Position [640, 415, 645, 475]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType DiscreteStateSpace
Name "Osservatore Dinamico\ndello Stato"
Position [285, 537, 405, 573]
FontSize 10
A "Ao"
B "Bo"
C "Co"
D "Do"
X0 "0"
SampleTime "Tc"
Realization "auto"
RTWStateStorageClass "Auto"
}
Block {
BlockType FromWorkspace
Name "Rumore\nGaussiano"
Position [25, 193, 90, 217]
FontSize 10
VariableName "[t w]"
SampleTime "Tc"
Interpolate on
OutputAfterFinalValue "Extrapolation"
}
Block {
BlockType FromWorkspace
Name "Rumore\nGaussiano "
Position [355, 203, 420, 227]
FontSize 10
VariableName "[t v]"
SampleTime "Tc"
Interpolate on
OutputAfterFinalValue "Extrapolation"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [560, 139, 590, 171]
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType DiscreteStateSpace
Name "Sistema Dinamico\nDiscreto"
Position [255, 137, 375, 173]
FontSize 10
A "A"
B "[B B]"
C "C"
D "D"
X0 "0"
SampleTime "Tc"
Realization "auto"
RTWStateStorageClass "Auto"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [430, 145, 450, 165]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [485, 340, 505, 360]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [510, 545, 530, 565]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Line {
SrcBlock "Ingresso"
SrcPort 1
Points [45, 0; 0, 35]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 190]
Branch {
DstBlock "Mux1"
DstPort 1
}
Branch {
Points [0, 205]
DstBlock "Mux2"
DstPort 1
}
}
}
Line {
SrcBlock "Rumore\nGaussiano"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Sistema Dinamico\nDiscreto"
DstPort 1
}
Line {
SrcBlock "Sistema Dinamico\nDiscreto"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 110; -390, 0; 0, 100]
Branch {
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [0, 60]
Branch {
Points [0, 145]
Branch {
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, 55; 420, 0]
DstBlock "Sum2"
DstPort 2
}
}
Branch {
Points [395, 0]
DstBlock "Sum1"
DstPort 2
}
}
}
}
Line {
SrcBlock "Rumore\nGaussiano "
SrcPort 1
Points [15, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Estimation Error\nOutput Observer"
DstPort 1
}
Branch {
Points [0, -95]
DstBlock "Mux3"
DstPort 2
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [40, 0]
Branch {
DstBlock "Estimation Error \nKalman Filter"
DstPort 1
}
Branch {
Points [0, 80]
DstBlock "Mux3"
DstPort 1
}
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Confronto\nStime"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Osservatore Dinamico\ndello Stato"
DstPort 1
}
Line {
SrcBlock "Osservatore Dinamico\ndello Stato"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Filtro di Kalman"
DstPort 1
}
Line {
SrcBlock "Filtro di Kalman"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Annotation {
Position [159, 112]
Text "u(t)"
}
Annotation {
Position [164, 184]
Text "w(t)"
}
Annotation {
Position [471, 137]
Text "y(t)"
}
Annotation {
Position [452, 218]
Text "v(t)"
}
Annotation {
Position [160, 321]
Text "u(t)"
}
Annotation {
Position [161, 381]
Text "y(t)"
}
Annotation {
Position [160, 526]
Text "u(t)"
}
Annotation {
Position [161, 586]
Text "y(t)"
}
}
}
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