📄 helicopt.mdl
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ShowName off
Operator "<"
InputSameDT off
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [615, 200, 635, 220]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [90, 120, 110, 140]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "|-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum2"
Ports [3, 1]
Position [400, 120, 420, 140]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [170, 360, 190, 380]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [435, 410, 455, 430]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "-|+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [420, 275, 440, 295]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1]
Position [455, 120, 475, 140]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "|-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Switch
Name "Switch"
Position [320, 180, 350, 210]
BackgroundColor "yellow"
ShowName off
Criteria "u2 ~= 0"
Threshold "1"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [320, 55, 350, 85]
BackgroundColor "yellow"
ShowName off
Criteria "u2 ~= 0"
Threshold "1"
InputSameDT off
}
Block {
BlockType Outport
Name "u"
Position [660, 203, 690, 217]
BackgroundColor "yellow"
}
Line {
SrcBlock "Discrete-Time\nIntegrator"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion"
SrcPort 1
Points [25, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Data Type Conversion1"
SrcPort 1
Points [25, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
Points [20, 0; 0, -85]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "Sum6"
DstPort 2
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [5, 0; 0, -100; -175, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator3"
SrcPort 1
DstBlock "Data Type Conversion"
DstPort 1
}
Line {
SrcBlock "Constant5"
SrcPort 1
Points [15, 0; 0, -10]
DstBlock "Relational\nOperator3"
DstPort 2
}
Line {
SrcBlock "Relational\nOperator2"
SrcPort 1
DstBlock "Data Type Conversion1"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 80]
DstBlock "Relational\nOperator3"
DstPort 1
}
Branch {
DstBlock "Relational\nOperator2"
DstPort 1
}
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [15, 0; 0, -10]
DstBlock "Relational\nOperator2"
DstPort 2
}
Line {
SrcBlock "Memory"
SrcPort 1
Points [25, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Switch1"
SrcPort 1
Points [55, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [55, 0]
DstBlock "Sum2"
DstPort 3
}
Line {
SrcBlock "Ground1"
SrcPort 1
Points [10, 0; 0, -25]
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Switch1"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
DstBlock "Switch1"
DstPort 2
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [10, 0]
DstBlock "Relational\nOperator1"
DstPort 2
}
Line {
SrcBlock "Ground"
SrcPort 1
Points [10, 0; 0, -25]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [10, 0]
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 0; 55, 0]
Branch {
Points [0, -70]
DstBlock "Relational\nOperator1"
DstPort 1
}
Branch {
DstBlock "Sum2"
DstPort 2
}
Branch {
Points [0, 55]
DstBlock "Relational\nOperator"
DstPort 1
}
}
Line {
SrcBlock "y"
SrcPort 1
Points [10, 0; 25, 0]
Branch {
Points [0, 0]
Branch {
Points [0, 85]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Memory"
DstPort 1
}
}
Branch {
DstBlock "Sum5"
DstPort 1
}
}
Branch {
DstBlock "Sum1"
DstPort 2
}
}
Line {
SrcBlock "r"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [15, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Observer-\nController"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 75; -150, 0; 0, -65]
DstBlock "Mux"
DstPort 2
}
Branch {
DstBlock "u"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Observer-\nController"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "F-B Cyclic"
Position [495, 283, 525, 297]
BackgroundColor "yellow"
}
Block {
BlockType Outport
Name "L-R Cyclic"
Position [495, 193, 525, 207]
BackgroundColor "yellow"
Port "2"
}
Block {
BlockType Outport
Name "Rudder"
Position [495, 398, 525, 412]
BackgroundColor "yellow"
Port "3"
}
Line {
SrcBlock "Roll Cmd"
SrcPort 1
Points [25, 0]
Branch {
Points [0, -20; 120, 0; 0, 15]
DstBlock "Switch1"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Roll Smoothing"
DstPort 1
}
}
Line {
SrcBlock "Roll Smoothing"
SrcPort 1
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Pitch Smoothing"
SrcPort 1
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Hovering"
SrcPort 1
Points [15, 0; 0, 65]
Branch {
Points [0, 90]
DstBlock "Switch"
DstPort 2
}
Branch {
DstBlock "Switch1"
DstPort 2
}
}
Line {
SrcBlock "Switch1"
SrcPort 1
DstBlock "Roll Controller"
DstPort 1
}
Line {
SrcBlock "Pitch Cmd"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, -20; 120, 0; 0, 15]
DstBlock "Switch"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Pitch Smoothing"
DstPort 1
}
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "Pitch Controller"
DstPort 1
}
Line {
SrcBlock "Yaw Controller"
SrcPort 1
DstBlock "Rudder"
DstPort 1
}
Line {
SrcBlock "Yaw Cmd"
SrcPort 1
DstBlock "Yaw Co⌨️ 快捷键说明
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