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📄 d_pend.mdl

📁 三级倒立摆的稳定
💻 MDL
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    Block {
      BlockType		      Outport
      Port		      "1"
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Quantizer
      QuantizationInterval    "0.5"
      LinearizeAsGain	      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      Saturate
      UpperLimit	      "0.5"
      LowerLimit	      "-0.5"
      LinearizeAsGain	      on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      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		      "S-Function"
      FunctionName	      "system"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    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		      ToWorkspace
      VariableName	      "simulink_output"
      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_pend"
    Location		    [81, 82, 934, 612]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Actuators"
      Ports		      [1, 1]
      Position		      [405, 174, 485, 216]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Actuators"
	Location		[433, 403, 931, 703]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [55, 138, 85, 152]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Actuator1"
	  Position		  [200, 92, 260, 128]
	  BackgroundColor	  "lightBlue"
	  DropShadow		  on
	  Numerator		  "[gd1]"
	  Denominator		  "[Td1 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Actuator2"
	  Position		  [200, 162, 260, 198]
	  BackgroundColor	  "lightBlue"
	  DropShadow		  on
	  Numerator		  "[gd2]"
	  Denominator		  "[Td2 1]"
	}
	Block {
	  BlockType		  BusCreator
	  Name			  "Bus\nCreator"
	  Ports			  [2, 1]
	  Position		  [330, 126, 335, 164]
	  ShowName		  off
	  DialogController	  "Simulink.DDGSource_Bus"
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 2]
	  Position		  [120, 126, 125, 164]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "[1, 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [385, 138, 415, 152]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Demux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  1
	  Points		  [30, 0; 0, -25]
	  DstBlock		  "Actuator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  2
	  Points		  [30, 0; 0, 25]
	  DstBlock		  "Actuator2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Actuator1"
	  SrcPort		  1
	  Points		  [35, 0; 0, 25]
	  DstBlock		  "Bus\nCreator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Actuator2"
	  SrcPort		  1
	  Points		  [35, 0; 0, -25]
	  DstBlock		  "Bus\nCreator"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Bus\nCreator"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Annotation {
	  Name			  "Actuators"
	  Position		  [231, 31]
	  FontSize		  12
	  FontWeight		  "bold"
	}
      }
    }
    Block {
      BlockType		      BusCreator
      Name		      "Bus\nCreator"
      Ports		      [2, 1]
      Position		      [550, 166, 555, 204]
      ShowName		      off
      DialogController	      "Simulink.DDGSource_Bus"
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      BusCreator
      Name		      "Bus\nCreator1"
      Ports		      [2, 1]
      Position		      [205, 176, 210, 214]
      ShowName		      off
      DialogController	      "Simulink.DDGSource_Bus"
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [55, 420, 75, 440]
      BackgroundColor	      "green"
      Decimation	      "1"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Controller"
      Ports		      [1, 1]
      Position		      [245, 174, 325, 216]
      BackgroundColor	      "red"
      DropShadow	      on
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"Controller"
	Location		[161, 189, 801, 400]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [35, 93, 65, 107]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  DiscreteStateSpace
	  Name			  "Discrete-time Controller"
	  Position		  [255, 82, 375, 118]
	  BackgroundColor	  "red"
	  DropShadow		  on
	  A			  "Akd"
	  B			  "Bkd"
	  C			  "Ckd"
	  D			  "Dkd"
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Quantizer
	  Name			  "Quantizer1"
	  Position		  [205, 85, 235, 115]
	  BackgroundColor	  "orange"
	  DropShadow		  on
	  QuantizationInterval	  "2*u_adc/2^B_adc"
	}
	Block {
	  BlockType		  Quantizer
	  Name			  "Quantizer2"
	  Position		  [510, 85, 540, 115]
	  BackgroundColor	  "orange"
	  DropShadow		  on
	  QuantizationInterval	  "2*u_dac/2^B_dac"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation1"
	  Position		  [150, 85, 180, 115]
	  BackgroundColor	  "green"
	  DropShadow		  on
	  UpperLimit		  "u_adc"
	  LowerLimit		  "-u_adc"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation2"
	  Position		  [455, 84, 485, 116]
	  BackgroundColor	  "green"
	  DropShadow		  on
	  UpperLimit		  "u_dac"
	  LowerLimit		  "-u_dac"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "Zero-Order\nHold1"
	  Position		  [90, 81, 125, 119]
	  BackgroundColor	  "blue"
	  DropShadow		  on
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "Zero-Order\nHold2"
	  Position		  [400, 81, 435, 119]
	  BackgroundColor	  "blue"
	  DropShadow		  on
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [565, 93, 595, 107]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Zero-Order\nHold1"
	  SrcPort		  1
	  DstBlock		  "Saturation1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Quantizer1"
	  SrcPort		  1
	  DstBlock		  "Discrete-time Controller"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete-time Controller"
	  SrcPort		  1
	  DstBlock		  "Zero-Order\nHold2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Zero-Order\nHold2"
	  SrcPort		  1
	  DstBlock		  "Saturation2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Saturation1"
	  SrcPort		  1
	  DstBlock		  "Quantizer1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Saturation2"
	  SrcPort		  1
	  DstBlock		  "Quantizer2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Quantizer2"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1

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