📄 d_rock.mdl
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MaxDataPoints "1000"
Decimation "1"
SampleTime "0"
FixptAsFi off
}
Block {
BlockType TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType ZeroOrderHold
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 "d_rock"
Location [6, 82, 945, 716]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType TransferFcn
Name "Accelerometer_y"
Position [590, 372, 680, 408]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWa*numWa"
Denominator "denWa"
}
Block {
BlockType TransferFcn
Name "Accelerometer_z"
Position [590, 497, 680, 533]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWa*numWa"
Denominator "denWa"
}
Block {
BlockType BusCreator
Name "Bus\nCreator"
Ports [3, 1]
Position [515, 176, 520, 214]
ShowName off
DialogController "Simulink.DDGSource_Bus"
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Clock
Name "Clock"
Position [765, 550, 785, 570]
BackgroundColor "green"
Decimation "1"
}
Block {
BlockType SubSystem
Name "Controller_y"
Ports [1, 1]
Position [180, 120, 235, 170]
BackgroundColor "red"
DropShadow on
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Controller_y"
Location [127, 259, 977, 785]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [40, 128, 70, 142]
Port "1"
IconDisplay "Port number"
SampleTime "Ts"
LatchInput off
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2]
Position [125, 115, 130, 155]
BackgroundColor "black"
NamePlacement "alternate"
ShowName off
Outputs "2"
}
Block {
BlockType DiscreteStateSpace
Name "Discrete Controller"
Position [450, 111, 565, 169]
BackgroundColor "red"
DropShadow on
A "Akd"
B "Bkd"
C "Ckd"
D "Dkd"
SampleTime "Ts"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [410, 121, 415, 159]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Quantizer
Name "Quantizer1"
Position [325, 70, 355, 100]
BackgroundColor "orange"
DropShadow on
QuantizationInterval "2*u_adc/2^B_adc"
}
Block {
BlockType Quantizer
Name "Quantizer2"
Position [325, 175, 355, 205]
BackgroundColor "orange"
DropShadow on
QuantizationInterval "2*u_adc/2^B_adc"
}
Block {
BlockType Quantizer
Name "Quantizer3"
Position [720, 125, 750, 155]
BackgroundColor "orange"
DropShadow on
QuantizationInterval "2*u_dac/2^B_dac"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [260, 70, 290, 100]
BackgroundColor "green"
DropShadow on
UpperLimit "u_adc"
LowerLimit "-u_adc"
}
Block {
BlockType Saturate
Name "Saturation2"
Position [260, 175, 290, 205]
BackgroundColor "green"
DropShadow on
UpperLimit "u_adc"
LowerLimit "-u_adc"
}
Block {
BlockType Saturate
Name "Saturation3"
Position [660, 124, 690, 156]
BackgroundColor "green"
DropShadow on
UpperLimit "u_dac"
LowerLimit "-u_dac"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [190, 66, 225, 104]
BackgroundColor "blue"
DropShadow on
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold2"
Position [190, 171, 225, 209]
BackgroundColor "blue"
DropShadow on
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold3"
Position [595, 121, 630, 159]
BackgroundColor "blue"
DropShadow on
SampleTime "Ts"
}
Block {
BlockType Outport
Name "Out1"
Position [775, 133, 805, 147]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Saturation1"
SrcPort 1
DstBlock "Quantizer1"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Quantizer1"
SrcPort 1
Points [35, 0]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [10, 0; 0, 45]
DstBlock "Zero-Order\nHold2"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold2"
SrcPort 1
DstBlock "Saturation2"
DstPort 1
}
Line {
SrcBlock "Saturation2"
SrcPort 1
DstBlock "Quantizer2"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [10, 0; 0, -40]
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Discrete Controller"
SrcPort 1
DstBlock "Zero-Order\nHold3"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold3"
SrcPort 1
DstBlock "Saturation3"
DstPort 1
}
Line {
SrcBlock "Saturation3"
SrcPort 1
DstBlock "Quantizer3"
DstPort 1
}
Line {
SrcBlock "Quantizer3"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Quantizer2"
SrcPort 1
Points [35, 0]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Discrete Controller"
DstPort 1
}
Annotation {
Name "Discrete-Time Controller"
Position [406, 16]
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType SubSystem
Name "Controller_z"
Ports [1, 1]
Position [220, 255, 275, 305]
BackgroundColor "red"
DropShadow on
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Controller_z"
Location [127, 259, 977, 785]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [40, 128, 70, 142]
Port "1"
IconDisplay "Port number"
SampleTime "Ts"
LatchInput off
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2]
Position [125, 115, 130, 155]
BackgroundColor "black"
NamePlacement "alternate"
ShowName off
Outputs "2"
}
Block {
BlockType DiscreteStateSpace
Name "Discrete Controller"
Position [450, 111, 565, 169]
BackgroundColor "red"
DropShadow on
A "Akd"
B "Bkd"
C "Ckd"
D "Dkd"
SampleTime "Ts"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [410, 121, 415, 159]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Quantizer
Name "Quantizer1"
Position [325, 70, 355, 100]
BackgroundColor "orange"
DropShadow on
QuantizationInterval "2*u_adc/2^B_adc"
}
Block {
BlockType Quantizer
Name "Quantizer2"
Position [325, 175, 355, 205]
BackgroundColor "orange"
DropShadow on
QuantizationInterval "2*u_adc/2^B_adc"
}
Block {
BlockType Quantizer
Name "Quantizer3"
Position [720, 125, 750, 155]
BackgroundColor "orange"
DropShadow on
QuantizationInterval "2*u_dac/2^B_dac"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [260, 70, 290, 100]
BackgroundColor "green"
DropShadow on
UpperLimit "u_adc"
LowerLimit "-u_adc"
}
Block {
BlockType Saturate
Name "Saturation2"
Position [260, 175, 290, 205]
BackgroundColor "green"
DropShadow on
UpperLimit "u_adc"
LowerLimit "-u_adc"
}
Block {
BlockType Saturate
Name "Saturation3"
Position [660, 124, 690, 156]
BackgroundColor "green"
DropShadow on
UpperLimit "u_dac"
LowerLimit "-u_dac"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [190, 66, 225, 104]
BackgroundColor "blue"
DropShadow on
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold2"
Position [190, 171, 225, 209]
BackgroundColor "blue"
DropShadow on
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold3"
Position [595, 121, 630, 159]
BackgroundColor "blue"
DropShadow on
SampleTime "Ts"
}
Block {
BlockType Outport
Name "Out1"
Position [775, 133, 805, 147]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Saturation1"
SrcPort 1
DstBlock "Quantizer1"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Quantizer1"
SrcPort 1
Points [35, 0]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [10, 0; 0, 45]
DstBlock "Zero-Order\nHold2"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold2"
SrcPort 1
DstBlock "Saturation2"
DstPort 1
}
Line {
SrcBlock "Saturation2"
SrcPort 1
DstBlock "Quantizer2"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [10, 0; 0, -40]
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Discrete Controller"
SrcPort 1
DstBlock "Zero-Order\nHold3"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold3"
SrcPort 1
DstBlock "Saturation3"
DstPort 1
}
Line {
SrcBlock "Saturation3"
SrcPort 1
DstBlock "Quantizer3"
DstPort 1
}
Line {
SrcBlock "Quantizer3"
SrcPort 1
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