📄 pendulum.mdl
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Model {
Name "Pendulum"
Version 5.0
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
ShowLoopsOnError on
IgnoreBidirectionalLines off
ShowStorageClass off
ExecutionOrder off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovMetricSettings "dw"
CovNameIncrementing off
CovHtmlReporting on
covSaveCumulativeToWorkspaceVar on
CovSaveSingleToWorkspaceVar on
CovCumulativeVarName "covCumulativeData"
CovCumulativeReport off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
MinMaxOverflowArchiveMode "Overwrite"
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Sat Jul 13 10:11:07 2002"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Administrator"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Sat Aug 30 07:28:03 2003"
ModelVersionFormat "1.%<AutoIncrement:26>"
ConfigurationManager "sourcesafe"
SimParamPage "Solver"
LinearizationMsg "none"
Profile off
ParamWorkspaceSource "MATLABWorkspace"
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
TryForcingSFcnDF off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
ExtModeSkipDownloadWhenConnect off
ExtModeLogAll on
ExtModeAutoUpdateStatusClock on
BufferReuse on
RTWExpressionDepthLimit 5
SimulationMode "normal"
Solver "ode45"
SolverMode "Auto"
StartTime "0.0"
StopTime "inf"
MaxOrder 5
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-12"
AbsTol "1e-9"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
Refine "1"
LoadExternalInput off
ExternalInput "[t, u]"
LoadInitialState off
InitialState "xInitial"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
Decimation "1"
LimitDataPoints on
MaxDataPoints "1000"
SignalLoggingName "sigsOut"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
AlgebraicLoopMsg "warning"
BlockPriorityViolationMsg "warning"
MinStepSizeMsg "warning"
InheritedTsInSrcMsg "warning"
DiscreteInheritContinuousMsg "warning"
MultiTaskRateTransMsg "error"
SingleTaskRateTransMsg "none"
CheckForMatrixSingularity "none"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
ParameterDowncastMsg "error"
ParameterOverflowMsg "error"
ParameterPrecisionLossMsg "warning"
UnderSpecifiedDataTypeMsg "none"
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
InvalidFcnCallConnMsg "error"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
SfunCompatibilityCheckMsg "none"
RTWInlineParameters off
BlockReductionOpt on
BooleanDataType off
ConditionallyExecuteInputs on
ParameterPooling on
OptimizeBlockIOStorage on
ZeroCross on
AssertionControl "UseLocalSettings"
ProdHWDeviceType "Microprocessor"
ProdHWWordLengths "8,16,32,32"
RTWSystemTargetFile "grt.tlc"
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
RTWRetainRTWFile off
TLCProfiler off
TLCDebug off
TLCCoverage off
TLCAssertion off
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType Actuator
SubClassName "unknown"
PortType "blob"
}
Block {
BlockType Constant
Value "1"
VectorParams1D on
ShowAdditionalParam off
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
}
Block {
BlockType Ground
}
Block {
BlockType Inport
Port "1"
PortDimensions "-1"
SampleTime "-1"
ShowAdditionalParam off
LatchInput off
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
Interpolate on
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
}
Block {
BlockType Outport
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType PMComponent
SubClassName "unknown"
PortType "blob"
}
Block {
BlockType PMIOPort
}
Block {
BlockType Sensor
SubClassName "unknown"
PortType "blob"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Terminator
}
}
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 "Pendulum"
Location [301, 87, 798, 323]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
BlocksetDataString "[0 -9.81 0]|1|0|1e-3|1|1e-3|1|2|1e-4|1e-4|0|0|1|1"
"e-5|Deprecated|0|1|0||1|1"
Block {
BlockType Inport
Name "Cart Force"
Position [35, 148, 65, 162]
BackgroundColor "lightBlue"
PortDimensions "1"
}
Block {
BlockType SubSystem
Name "Pendulum on Cart"
Ports [1, 1]
Position [135, 126, 235, 184]
BackgroundColor "yellow"
TreatAsAtomicUnit off
System {
Name "Pendulum on Cart"
Location [40, 443, 626, 754]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Cart Force"
Position [70, 138, 100, 152]
BackgroundColor "lightBlue"
PortDimensions "1"
}
Block {
BlockType Reference
Name "Cart"
Tag "Factory generic"
Description "Mechanical Blockset"
Ports [0, 0, 0, 0, 0, 2, 1]
Position [220, 40, 280, 80]
SourceBlock "mblibv1/Bodies/Body"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
PortType "workingframe"
LConnTagsString "CS1|CG"
RConnTagsString "CS2"
ClassName "Body"
DialogClass "MechanicalBodyBlock"
Mass "5"
MassUnits "kg"
InertiaUnits "kg*m^2"
Inertia "eye(3)"
Shape "Cylinder"
ShapeDims "[1 1]"
ShapeUnits "m"
ShapeUse "false"
Density "1"
DensityUnits "kg/m^3"
DensityUse "false"
CG "Left$CG$[0 0 0]$WORLD$WORLD$m$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$true"
WorkingFrames "Left$CS1$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-"
"Z$deg$WORLD$true#Right$CS2$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true"
}
Block {
BlockType Reference
Name "Cart Pos\n& Vel"
Tag "__orphan__"
Description "Mechanical Blockset"
Ports [0, 1, 0, 0, 0, 1]
Position [355, 220, 395, 260]
SourceBlock "mblibv1/Sensors & \nActuators/Joint Sensor"
SourceType "msb"
PortType "blob"
PhysicalDomain "Mechanical"
Muxed "on"
Pose "off"
Angle "on"
AngleUnits "deg"
ArcVelocity "off"
ArcVelocityUnits "deg/s"
ArcAcceleration "off"
ArcAccelerationUnits "deg/s⌨️ 快捷键说明
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