📄 pend.mdl
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Points [0, 60]
Branch {
DstBlock "d/dt(phi)"
DstPort 1
}
Branch {
DstBlock "C"
DstPort 1
}
}
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
DstBlock "Integrator3"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "dx/dt"
DstPort 1
}
Branch {
Points [0, -70]
DstBlock "KTKg/r"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
DstBlock "phi"
DstPort 1
}
Branch {
Points [0, -95]
Branch {
Points [0, -40]
DstBlock "cos(u)"
DstPort 1
}
Branch {
DstBlock "sin(u)"
DstPort 1
}
}
}
Line {
SrcBlock "u(t)"
SrcPort 1
DstBlock "Subtract"
DstPort 2
}
Line {
SrcBlock "Subtract"
SrcPort 1
DstBlock "KTKg/Rar"
DstPort 1
}
Line {
SrcBlock "KTKg/r"
SrcPort 1
Points [-10, 0; 0, 40]
DstBlock "Subtract"
DstPort 1
}
Line {
SrcBlock "KTKg/Rar"
SrcPort 1
DstBlock "Subtract1"
DstPort 1
}
Line {
SrcBlock "Subtract1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
DstBlock "Integrator2"
DstPort 1
}
Branch {
Points [0, 60; -250, 0]
DstBlock "Pro2"
DstPort 1
}
}
Line {
SrcBlock "Integrator3"
SrcPort 1
DstBlock "x"
DstPort 1
}
Line {
SrcBlock "mL"
SrcPort 1
Points [0, 0; -145, 0]
Branch {
DstBlock "Pro6"
DstPort 2
}
Branch {
Points [-250, 0]
DstBlock "Pro2"
DstPort 2
}
}
Line {
SrcBlock "mL1"
SrcPort 1
Points [0, 0; -35, 0]
Branch {
DstBlock "Pro4"
DstPort 2
}
Branch {
DstBlock "Pro1"
DstPort 2
}
}
Line {
SrcBlock "(d/d(phi))^2"
SrcPort 1
DstBlock "Pro4"
DstPort 1
}
Line {
SrcBlock "sin(u)"
SrcPort 1
DstBlock "mL1"
DstPort 1
}
Line {
SrcBlock "cos(u)"
SrcPort 1
DstBlock "mL"
DstPort 1
}
Line {
SrcBlock "C"
SrcPort 1
Points [-105, 0; 0, -50]
DstBlock "Sum troques\non pend"
DstPort 3
}
Line {
SrcBlock "Pro2"
SrcPort 1
Points [0, 45]
DstBlock "Sum troques\non pend"
DstPort 2
}
Line {
SrcBlock "Pro1"
SrcPort 1
Points [0, 35]
DstBlock "Sum troques\non pend"
DstPort 1
}
Line {
SrcBlock "Gravity"
SrcPort 1
DstBlock "Pro1"
DstPort 1
}
Line {
SrcBlock "Subtract2"
SrcPort 1
Points [-55, 0; 0, -120]
DstBlock "Subtract1"
DstPort 2
}
Line {
SrcBlock "Pro6"
SrcPort 1
Points [0, -10]
DstBlock "Subtract2"
DstPort 2
}
Line {
SrcBlock "Pro4"
SrcPort 1
Points [0, -25]
DstBlock "Subtract2"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Subtract1"
DstPort 3
}
Annotation {
Position [482, 99]
}
Annotation {
Name "d2/dt2(phi)"
Position [386, 452]
}
Annotation {
Name "d/dt(x)"
Position [497, 100]
}
Annotation {
Name "d^2/dt^2(x)"
Position [367, 99]
}
Annotation {
Name "1/(M+m)"
Position [326, 73]
}
Annotation {
Name "mLsin(phi)(d/d(phi))^2"
Position [406, 205]
}
Annotation {
Name "mLcos(phi)d^2/d(phi)^2"
Position [310, 256]
}
}
}
Block {
BlockType Sum
Name "Subtract"
Ports [2, 1]
Position [300, 307, 330, 338]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Switch
Name "Switch1"
Position [420, 287, 465, 333]
Threshold "6.0832"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k1"
Position [605, 240, 635, 270]
Orientation "left"
Gain "-96.7900"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k2"
Position [660, 200, 690, 230]
Orientation "left"
Gain "-47.8962"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k3"
Position [710, 160, 740, 190]
Orientation "left"
Gain "-150.2499"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k4"
Position [750, 120, 780, 150]
Orientation "left"
Gain "-22.2593"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "s1"
Position [590, 525, 620, 555]
Orientation "left"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "s2"
Position [660, 490, 690, 520]
Orientation "left"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "s3"
Position [715, 455, 745, 485]
Orientation "left"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "s4"
Position [775, 420, 805, 450]
Orientation "left"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Line {
SrcBlock "Switch1"
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [50, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 0]
DstBlock "k1"
DstPort 1
}
Branch {
Points [0, 250]
DstBlock "s1"
DstPort 1
}
}
Line {
SrcBlock "Subsystem"
SrcPort 3
Points [160, 0]
Branch {
Points [85, 0]
Branch {
Points [0, -275; -470, 0; 0, 235]
DstBlock "Switch1"
DstPort 2
}
Branch {
Points [0, 230; -710, 0; 0, -315]
DstBlock "Sign"
DstPort 1
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
Branch {
Points [0, 0]
Branch {
Points [0, -175]
DstBlock "k3"
DstPort 1
}
Branch {
DstBlock "s3"
DstPort 1
}
}
}
Line {
SrcBlock "Subsystem"
SrcPort 2
Points [105, 0]
Branch {
DstBlock "k2"
DstPort 1
}
Branch {
DstBlock "s2"
DstPort 1
}
}
Line {
SrcBlock "Subsystem"
SrcPort 4
Points [220, 0]
Branch {
Points [0, -245]
DstBlock "k4"
DstPort 1
}
Branch {
DstBlock "s4"
DstPort 1
}
}
Line {
SrcBlock "k1"
SrcPort 1
DstBlock "Add"
DstPort 4
}
Line {
SrcBlock "k2"
SrcPort 1
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "k3"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "k4"
SrcPort 1
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Add"
SrcPort 1
Points [-225, 0; 0, 120]
DstBlock "Subtract"
DstPort 1
}
Line {
SrcBlock "Subtract"
SrcPort 1
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Gain8"
SrcPort 1
Points [0, -65]
DstBlock "Subtract"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [40, 0; 0, 30]
DstBlock "Switch1"
DstPort 1
}
Line {
SrcBlock "s1"
SrcPort 1
DstBlock "Add1"
DstPort 4
}
Line {
SrcBlock "s2"
SrcPort 1
DstBlock "Add1"
DstPort 3
}
Line {
SrcBlock "s3"
SrcPort 1
DstBlock "Add1"
DstPort 2
}
Line {
SrcBlock "s4"
SrcPort 1
DstBlock "Add1"
DstPort 1
}
Line {
SrcBlock "Add1"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [-100, 0]
DstBlock "Gain8"
DstPort 1
}
Line {
SrcBlock "Sign"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Pulse\nGenerator"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Annotation {
Name "k0"
Position [283, 418]
}
}
}
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