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📄 pend.mdl

📁 单级倒立摆,利用matlab中simulink进行动态仿真
💻 MDL
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      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Signum
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Switch
      Criteria		      "u2 >= Threshold"
      Threshold		      "0"
      InputSameDT	      on
      OutDataTypeMode	      "Inherit via internal rule"
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Trigonometry
      Operator		      "sin"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "myINVEPEND"
    Location		    [2, 82, 1014, 721]
    Open		    on
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      BlockType		      Sum
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      OutDataTypeMode	      "Inherit via internal rule"
      OutScaling	      "2^-10"
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      BlockType		      Gain
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      Gain		      "6"
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      BlockType		      Gain
      Name		      "Gain8"
      Position		      [245, 400, 275, 430]
      Orientation	      "up"
      NamePlacement	      "alternate"
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      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
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    Block {
      BlockType		      DiscretePulseGenerator
      Name		      "Pulse\nGenerator"
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      PulseType		      "Time based"
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      BlockType		      Saturate
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      Position		      [365, 475, 395, 505]
      Orientation	      "left"
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      Position		      [890, 274, 920, 306]
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      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      DataFormat	      "StructureWithTime"
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    Block {
      BlockType		      Scope
      Name		      "Scope1"
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      Position		      [890, 334, 920, 366]
      Location		      [188, 390, 512, 629]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
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      BlockType		      Signum
      Name		      "Sign"
      Position		      [205, 250, 235, 280]
    }
    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      Ports		      [2, 4]
      Position		      [515, 278, 595, 392]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"Subsystem"
	Location		[130, 98, 860, 645]
	Open			off
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	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
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	PaperType		"A4"
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	  BlockType		  Inport
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	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	}
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	  BlockType		  Gain
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	  Gain			  "38.3921"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Gain
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	  BlockType		  Gain
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	  Gain			  "1.5038"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
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	  BlockType		  Constant
	  Name			  "Gravity"
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	  Orientation		  "down"
	  Value			  "9.8"
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	  BlockType		  Integrator
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	  Position		  [435, 430, 465, 460]
	  Port {
	    PortNumber		    1
	    Name		    "d/dt(phi)"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	    ShowSigGenPortName	    on
	  }
	}
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	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [595, 430, 625, 460]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator2"
	  Ports			  [1, 1]
	  Position		  [415, 95, 445, 125]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator3"
	  Ports			  [1, 1]
	  Position		  [520, 95, 550, 125]
	}
	Block {
	  BlockType		  Gain
	  Name			  "KTKg/Rar"
	  Position		  [180, 75, 210, 105]
	  NamePlacement		  "alternate"
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	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Gain
	  Name			  "KTKg/r"
	  Position		  [60, 25, 90, 55]
	  Orientation		  "left"
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	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
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	  Name			  "Pro1"
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	  Position		  [182, 365, 213, 395]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Product
	  Name			  "Pro2"
	  Ports			  [2, 1]
	  Position		  [122, 365, 153, 395]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Product
	  Name			  "Pro4"
	  Ports			  [2, 1]
	  Position		  [482, 250, 513, 280]
	  Orientation		  "up"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	Block {
	  BlockType		  Product
	  Name			  "Pro6"
	  Ports			  [2, 1]
	  Position		  [372, 250, 403, 280]
	  Orientation		  "up"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Sum
	  Name			  "Subtract"
	  Ports			  [2, 1]
	  Position		  [110, 72, 140, 103]
	  Inputs		  "-+"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutScaling		  "2^-10"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Sum
	  Name			  "Subtract1"
	  Ports			  [3, 1]
	  Position		  [235, 82, 265, 138]
	  Inputs		  "+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutScaling		  "2^-10"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Sum
	  Name			  "Subtract2"
	  Ports			  [2, 1]
	  Position		  [240, 211, 270, 244]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Inputs		  "+-"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	Block {
	  BlockType		  Sum
	  Name			  "Sum troques\non pend"
	  Ports			  [3, 1]
	  Position		  [240, 429, 270, 461]
	  ShowName		  off
	  Inputs		  "+--"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutScaling		  "2^-10"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "cos(u)"
	  Ports			  [1, 1]
	  Position		  [605, 295, 635, 325]
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	  Operator		  "cos"
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	  Orientation		  "left"
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	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "mL1"
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	  Orientation		  "left"
	  Gain			  "0.0640"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
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	Block {
	  BlockType		  Trigonometry
	  Name			  "sin(u)"
	  Ports			  [1, 1]
	  Position		  [605, 335, 635, 365]
	  Orientation		  "left"
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	Block {
	  BlockType		  Outport
	  Name			  "x"
	  Position		  [585, 103, 615, 117]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "dx/dt"
	  Position		  [585, 168, 615, 182]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "phi"
	  Position		  [675, 438, 705, 452]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "d/dt(phi)"
	  Position		  [670, 498, 700, 512]
	  Port			  "4"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Sum troques\non pend"
	  SrcPort		  1
	  DstBlock		  "1/(J+mL^2)"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "1/(J+mL^2)"
	  SrcPort		  1
	  Points		  [0, 0; 40, 0]
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Pro6"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "d/dt(phi)"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    Labels		    [1, 1]
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -15]
	    Branch {
	      DstBlock		      "(d/d(phi))^2"
	      DstPort		      1
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	    Branch {
	      Points		      [15, 0]
	      DstBlock		      "(d/d(phi))^2"
	      DstPort		      2
	    }
	  }
	  Branch {

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