vehicle1.mdl

利用matlab建模的不带ABS的车体子模块

    Block {
      BlockType		      Gain
      Name		      "inverse of\nwheel\ninertia"
      Position		      [320, 45, 350, 75]
      BackgroundColor	      "yellow"
      Gain		      "1/jt"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Fcn
      Name		      "longitudinal\nweight transfer\nload"
      Position		      [410, 436, 485, 464]
      Orientation	      "left"
      Expr		      "-Mcar*hcg*u/l/2"
    }
    Block {
      BlockType		      Fcn
      Name		      "rolling\nfriction"
      Position		      [135, 180, 195, 210]
      Expr		      "f0+3.24*fn*sqrt((Kmph*u)^5)"
    }
    Block {
      BlockType		      SubSystem
      Name		      "run it"
      Ports		      [0, 0, 0, 0, 0]
      Position		      [546, 79, 648, 115]
      ForegroundColor	      "red"
      BackgroundColor	      "yellow"
      ShowName		      off
      OpenFcn		      "vehwill1data"
      ShowPortLabels	      off
      MaskDisplay	      "disp('Double click\\nto run model')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"run it"
	Location		[90, 578, 225, 691]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"yellow"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
      }
    }
    Block {
      BlockType		      Constant
      Name		      "static normal\nload"
      Position		      [410, 401, 485, 429]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Value		      "Mtot/4*9.81"
    }
    Block {
      BlockType		      Gain
      Name		      "wheel\n radius1"
      Position		      [210, 180, 240, 210]
      BackgroundColor	      "yellow"
      Gain		      "Rw"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "wheel radius"
      Position		      [135, 55, 165, 85]
      BackgroundColor	      "yellow"
      Gain		      "Rw"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "wheel radius1"
      Position		      [460, 45, 490, 75]
      BackgroundColor	      "yellow"
      Gain		      "Rw"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Integrator
      Name		      "wheel speed\nintegrator"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [385, 44, 415, 76]
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "Vin/Rw"
      LimitOutput	      on
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "0"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      Outport
      Name		      "lamda"
      Position		      [285, 265, 305, 285]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Outport
      Name		      "a"
      Position		      [635, 440, 655, 460]
      Port		      "2"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [95, 0]
      Branch {
	Points			[0, 70]
	DstBlock		"Mux2"
	DstPort			1
      }
      Branch {
	DstBlock		"Sum"
	DstPort			2
      }
    }
    Line {
      Labels		      [0, 0]
      SrcBlock		      "Slider\nGain"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ramp"
      SrcPort		      1
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "Tb\nR*Ft\nR*Ff"
      DstPort		      1
    }
    Line {
      SrcBlock		      "wheel\n radius1"
      SrcPort		      1
      Points		      [0, -45]
      Branch {
	Labels			[1, 0]
	DstBlock		"Mux2"
	DstPort			3
      }
      Branch {
	DstBlock		"Sum"
	DstPort			4
      }
    }
    Line {
      SrcBlock		      "wheel radius"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	Points			[0, 65]
	DstBlock		"Mux2"
	DstPort			2
      }
      Branch {
	DstBlock		"Sum"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "rolling\nfriction"
      SrcPort		      1
      DstBlock		      "wheel\n radius1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      2
      Points		      [-10, 0]
      DstBlock		      "Stop Simulation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [-10, 0]
      Branch {
	Labels			[2, 0]
	Points			[0, -85]
	DstBlock		"Speed"
	DstPort			1
      }
      Branch {
	DstBlock		"\n"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "wheel radius1"
      SrcPort		      1
      Points		      [5, 0; 0, 225]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [-50, 0]
      DstBlock		      "Slip--mu"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [-70, 0]
      Branch {
	Labels			[1, 0]
	Points			[0, -255]
	DstBlock		"wheel radius"
	DstPort			1
      }
      Branch {
	Points			[0, 180; 620, 0]
	DstBlock		"Sum3"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Dugoff"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Dugoff"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Mux1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "static normal\nload"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "longitudinal\nweight transfer\nload"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      Labels		      [0, 0]
      SrcBlock		      "\n"
      SrcPort		      1
      Points		      [-45, 0]
      Branch {
	Points			[0, 20]
	DstBlock		"Mux1"
	DstPort			1
      }
      Branch {
	Points			[0, -25]
	Branch {
	  Points		  [0, -20; -200, 0]
	  DstBlock		  "Slip--mu"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Slip"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "lamda"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Memory"
      SrcPort		      1
      DstBlock		      "longitudinal\nweight transfer\nload"
      DstPort		      1
    }
    Line {
      SrcBlock		      "inverse\n1/4Mtot"
      SrcPort		      1
      Points		      [-5, 0]
      Branch {
	Points			[0, 85]
	Branch {
	  DstBlock		  "a1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 30]
	  Branch {
	    DstBlock		    "a"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Memory"
	    DstPort		    1
	  }
	}
      }
      Branch {
	DstBlock		"Integrator1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      Points		      [-25, 0]
      Branch {
	Points			[-15, 0; 0, 10]
	Branch {
	  Labels		  [1, 0]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, -25]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
      Branch {
	Points			[0, -30]
	Branch {
	  Points		  [0, -50; -395, 0]
	  DstBlock		  "rolling\nfriction"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "aero load"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "aero load"
      SrcPort		      1
      Points		      [80, 0]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "inverse\n1/4Mtot"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [75, 0]
      DstBlock		      "Slider\nGain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "inverse of\nwheel\ninertia"
      DstPort		      1
    }
    Line {
      SrcBlock		      "inverse of\nwheel\ninertia"
      SrcPort		      1
      DstBlock		      "wheel speed\nintegrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "wheel speed\nintegrator"
      SrcPort		      1
      DstBlock		      "wheel radius1"
      DstPort		      1
    }
    Annotation {
      Position		      [231, 105]
      Text		      "R*Ff"
    }
    Annotation {
      Position		      [239, 38]
      Text		      "Tb"
    }
    Annotation {
      Position		      [223, 66]
      Text		      "R*Ft"
    }
    Annotation {
      Position		      [306, 430]
      Text		      "Fz"
    }
    Annotation {
      Position		      [396, 443]
      Text		      "FL"
    }
    Annotation {
      Position		      [381, 408]
      Text		      "quarter car"
    }
    Annotation {
      Position		      [359, 54]
      Text		      "w"
    }
    Annotation {
      Position		      [431, 52]
      Text		      "w '"
    }
    Annotation {
      Position		      [115, 361]
      Text		      "Ft"
    }
    Annotation {
      Position		      [602, 327]
      Text		      "a"
    }
  }
}