📄 d_rock.mdl
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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 Demux
Name "Demux1"
Ports [1, 6]
Position [670, 122, 675, 263]
BackgroundColor "black"
ShowName off
Outputs "6"
}
Block {
BlockType TransferFcn
Name "Fins_y"
Position [265, 128, 360, 162]
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWd*numWd"
Denominator "denWd"
}
Block {
BlockType TransferFcn
Name "Fins_z"
Position [305, 260, 395, 300]
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWd*numWd"
Denominator "denWd"
}
Block {
BlockType Gain
Name "Gain1"
Position [65, 65, 95, 95]
BackgroundColor "lightBlue"
DropShadow on
Gain "Ka"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain2"
Position [65, 215, 95, 245]
BackgroundColor "lightBlue"
DropShadow on
NamePlacement "alternate"
ShowName off
Gain "Ka"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
Position [415, 480, 445, 510]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Gain "-1"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain4"
Position [415, 585, 445, 615]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Gain "-1"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [195, 261, 200, 299]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [145, 126, 150, 164]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Noise"
Ports [0, 4]
Position [590, 289, 675, 346]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Noise"
Location [151, 197, 649, 675]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Reference
Name "Noise1"
Ports [0, 1]
Position [120, 90, 150, 120]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-3)"
Ts "Ts"
seed "[23341]"
VectorParams1D on
}
Block {
BlockType Reference
Name "Noise2"
Ports [0, 1]
Position [120, 175, 150, 205]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-3)"
Ts "Ts"
seed "[23341]"
VectorParams1D off
}
Block {
BlockType Reference
Name "Noise3"
Ports [0, 1]
Position [120, 260, 150, 290]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-3)"
Ts "Ts"
seed "[23341]"
VectorParams1D on
}
Block {
BlockType Reference
Name "Noise4"
Ports [0, 1]
Position [120, 350, 150, 380]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-3)"
Ts "Ts"
seed "[23341]"
VectorParams1D on
}
Block {
BlockType TransferFcn
Name "Shaping Filter-Accelerometer_y"
Position [210, 86, 320, 124]
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWan*numWan"
Denominator "denWan"
}
Block {
BlockType TransferFcn
Name "Shaping Filter-Accelerometer_z"
Position [210, 257, 320, 293]
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWan*numWan"
Denominator "denWan"
}
Block {
BlockType TransferFcn
Name "Shaping Filter-Rate gyro y"
Position [210, 346, 320, 384]
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWgn*numWgn"
Denominator "denWgn"
}
Block {
BlockType TransferFcn
Name "Shaping Filter-Rate gyro_z"
Position [210, 172, 320, 208]
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWgn*numWgn"
Denominator "denWgn"
}
Block {
BlockType Outport
Name "Out1"
Position [375, 98, 405, 112]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Out2"
Position [375, 183, 405, 197]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Out3"
Position [375, 268, 405, 282]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Out4"
Position [375, 358, 405, 372]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Noise1"
SrcPort 1
DstBlock "Shaping Filter-Accelerometer_y"
DstPort 1
}
Line {
SrcBlock "Shaping Filter-Accelerometer_y"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Noise2"
SrcPort 1
DstBlock "Shaping Filter-Rate gyro_z"
DstPort 1
}
Line {
SrcBlock "Shaping Filter-Rate gyro_z"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "Noise3"
SrcPort 1
DstBlock "Shaping Filter-Accelerometer_z"
DstPort 1
}
Line {
SrcBlock "Shaping Filter-Accelerometer_z"
SrcPort 1
DstBlock "Out3"
DstPort 1
}
Line {
SrcBlock "Noise4"
SrcPort 1
DstBlock "Shaping Filter-Rate gyro y"
DstPort 1
}
Line {
SrcBlock "Shaping Filter-Rate gyro y"
SrcPort 1
DstBlock "Out4"
DstPort 1
}
Annotation {
Name "Measurement noises"
Position [247, 18]
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType ToWorkspace
Name "Output4"
Position [885, 341, 925, 369]
BackgroundColor "orange"
VariableName "n_y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "Output5"
Position [885, 441, 925, 469]
BackgroundColor "orange"
VariableName "n_z"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "Outputs6_13"
Position [865, 490, 925, 520]
BackgroundColor "orange"
VariableName "y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransferFcn
Name "Rate gyro_y"
Position [590, 562, 685, 598]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWg*numWg"
Denominator "denWg"
}
Block {
BlockType TransferFcn
Name "Rate gyro_z"
Position [590, 436, 680, 474]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWg*numWg"
Denominator "denWg"
}
Block {
BlockType "S-Function"
Name "Rocket"
Ports [1, 1]
Position [540, 171, 635, 219]
BackgroundColor "green"
DropShadow on
FunctionName "s_rock"
}
Block {
BlockType TransferFcn
Name "Roll compensator"
Position [605, 66, 685, 104]
Orientation "left"
BackgroundColor "red"
DropShadow on
Numerator "-gainKr*numKr"
Denominator "denKr"
}
Block {
BlockType TransferFcn
Name "Roll fins"
Position [500, 64, 585, 106]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWr*numWr"
Denominator "denWr"
}
Block {
BlockType TransferFcn
Name "Roll giro"
Position [700, 67, 790, 103]
Orientation "left"
BackgroundColor "lightBlue"
DropShadow on
Numerator "gainWi*numWi"
Denominator "denWi"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [385, 130, 415, 160]
BackgroundColor "green"
DropShadow on
UpperLimit "0.6"
LowerLimit "-0.6"
}
Block {
BlockType Saturate
Name "Saturation2"
Position [420, 265, 450, 295]
BackgroundColor "green"
DropShadow on
UpperLimit "0.6"
LowerLimit "-0.6"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [100, 125, 120, 145]
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [150, 260, 170, 280]
BackgroundColor "cyan"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [555, 570, 575, 590]
Orientation "down"
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [475, 380, 495, 400]
Orientation "down"
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [500, 445, 520, 465]
Orientation "down"
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [525, 505, 545, 525]
Orientation "down"
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType ToWorkspace
Name "Time"
Position [865, 545, 925, 575]
BackgroundColor "orange"
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Scope
Name "delta_y"
Ports [1]
Position [385, 68, 415, 102]
Orientation "left"
BackgroundColor "magenta"
Location [62, 322, 591, 682]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.495"
YMax "-0.415"
SaveName "ScopeData6"
DataFormat "StructureWithTime"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "delta_z"
Ports [1]
Position [420, 328, 450, 362]
Orientation "left"
BackgroundColor "magenta"
Location [134, 226, 663, 586]
Open off
NumInputPorts "1"
List {
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