mrefrobotarm2.mdl

神经网络预测控制程序的源代码

		  BlockType		  Outport
		  Name			  "a"
		  Position		  [515, 38, 545, 52]
		}
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		  SrcBlock		  "n"
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		  DstPort		  1
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		  SrcBlock		  "Gain"
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		  DstBlock		  "Exp"
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		Line {
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		  Points		  [20, 0]
		  DstBlock		  "Sum"
		  DstPort		  1
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		Line {
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		Line {
		  SrcBlock		  "Sum"
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		  DstBlock		  "Reciprocal"
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		  DstPort		  1
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		Line {
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		  DstBlock		  "Sum1"
		  DstPort		  1
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		Line {
		  SrcBlock		  "one1"
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		  Points		  [30, 0]
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		  DstPort		  2
		}
		Line {
		  SrcBlock		  "Sum1"
		  SrcPort		  1
		  DstBlock		  "a"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "uhat"
	      Position		      [1230, 263, 1260, 277]
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain4"
	      SrcPort		      1
	      Points		      [20, 0; 0, 115]
	      DstBlock		      "netsum"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain3"
	      SrcPort		      1
	      DstBlock		      "netsum"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant6"
	      SrcPort		      1
	      Points		      [80, 0]
	      DstBlock		      "netsum"
	      DstPort		      4
	    }
	    Line {
	      SrcBlock		      "Switch"
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	      Points		      [5, 0; 0, -50]
	      DstBlock		      "Unit Delay5"
	      DstPort		      1
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	    Line {
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	      Branch {
		Points			[0, 110; 70, 0]
		DstBlock		"Switch"
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	      }
	      Branch {
		DstBlock		"Fcn"
		DstPort			1
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	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      Points		      [25, 0]
	      DstBlock		      "Switch"
	      DstPort		      2
	    }
	    Line {
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	      SrcPort		      1
	      Points		      [15, 0]
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	      DstPort		      2
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	    Line {
	      SrcBlock		      "Switch1"
	      SrcPort		      1
	      Points		      [0, -60]
	      DstBlock		      "Unit Delay1"
	      DstPort		      1
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	    Line {
	      SrcBlock		      "Fcn1"
	      SrcPort		      1
	      Points		      [10, 0]
	      DstBlock		      "Switch1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "y"
	      SrcPort		      1
	      Points		      [10, 0]
	      Branch {
		DstBlock		"Fcn1"
		DstPort			1
	      }
	      Branch {
		Points			[0, 110; 75, 0]
		DstBlock		"Switch1"
		DstPort			3
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	    }
	    Line {
	      SrcBlock		      "Constant5"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Switch3"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Fcn3"
	      SrcPort		      1
	      Points		      [10, 0]
	      DstBlock		      "Switch3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "r"
	      SrcPort		      1
	      Points		      [10, 0]
	      Branch {
		DstBlock		"Fcn3"
		DstPort			1
	      }
	      Branch {
		Points			[0, 110; 75, 0]
		DstBlock		"Switch3"
		DstPort			3
	      }
	    }
	    Line {
	      SrcBlock		      "netsum"
	      SrcPort		      1
	      DstBlock		      "tansig"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain2"
	      SrcPort		      1
	      Points		      [125, 0; 0, -150]
	      DstBlock		      "netsum"
	      DstPort		      3
	    }
	    Line {
	      SrcBlock		      "netsum1"
	      SrcPort		      1
	      DstBlock		      "purelin"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain1"
	      SrcPort		      1
	      DstBlock		      "netsum1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant4"
	      SrcPort		      1
	      Points		      [15, 0]
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	    }
	    Line {
	      SrcBlock		      "purelin"
	      SrcPort		      1
	      Points		      [0, 0]
	      Branch {
		Points			[0, 70; 130, 0]
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		DstPort			3
	      }
	      Branch {
		Points			[15, 0]
		DstBlock		"Fcn2"
		DstPort			1
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	    }
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	      SrcBlock		      "Switch2"
	      SrcPort		      1
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	      DstPort		      1
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	      SrcBlock		      "Constant7"
	      SrcPort		      1
	      Points		      [20, 0]
	      DstBlock		      "netsum1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Discrete State-Space3"
	      SrcPort		      1
	      DstBlock		      "Matrix\nGain2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Zero-Order\nHold"
	      SrcPort		      1
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	      SrcPort		      1
	      DstBlock		      "Zero-Order\nHold"
	      DstPort		      1
	    }
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	      SrcBlock		      "Unit Delay5"
	      SrcPort		      1
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	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Unit Delay1"
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	      DstBlock		      "Discrete State-Space2"
	      DstPort		      1
	    }
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	      SrcBlock		      "Switch3"
	      SrcPort		      1
	      Points		      [75, 0]
	      DstBlock		      "Discrete State-Space3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Discrete State-Space2"
	      SrcPort		      1
	      Points		      [0, 5]
	      DstBlock		      "Matrix\nGain4"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "tansig"
	      SrcPort		      1
	      DstBlock		      "Matrix\nGain1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Discrete State-Space1"
	      SrcPort		      1
	      DstBlock		      "Matrix\nGain3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Fcn"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Switch"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Fcn2"
	      SrcPort		      1
	      Points		      [60, 0]
	      DstBlock		      "Switch2"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "NN Plant"
	  Ports			  [2, 2]
	  Position		  [300, 184, 370, 226]
	  TreatAsAtomicUnit	  off
	  System {
	    Name		    "NN Plant"
	    Location		    [40, 182, 1008, 539]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "u"
	      Position		      [85, 223, 115, 237]
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "y"
	      Position		      [35, 78, 65, 92]
	      Port		      "2"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant"
	      Position		      [540, 280, 560, 300]
	      Value		      "B1"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant1"
	      Position		      [710, 290, 730, 310]
	      Value		      "B2"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant2"
	      Position		      [145, 270, 165, 290]
	      Value		      "Normalize"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant3"
	      Position		      [115, 145, 135, 165]
	      Value		      "Normalize"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant4"
	      Position		      [925, 255, 945, 275]
	      Value		      "Normalize"
	    }
	    Block {
	      BlockType		      Fcn
	      Name		      "Fcn"
	      Position		      [145, 220, 180, 250]
	      Expr		      "(u(1)-minp)*2/(maxp-minp) - 1"
	    }
	    Block {
	      BlockType		      Fcn
	      Name		      "Fcn1"
	      Position		      [105, 70, 140, 100]
	      Expr		      "(u(1)-mint)*2/(maxt-mint) - 1"
	    }
	    Block {
	      BlockType		      Fcn
	      Name		      "Fcn2"
	      Position		      [855, 225, 890, 255]
	      Expr		      "(maxt-mint)*(u(1)+1)/2 + mint"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Matrix\nGain"
	      Position		      [540, 215, 570, 245]
	      Gain		      "IW"
	      Multiplication	      "Matrix(K*u)"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Matrix\nGain1"
	      Position		      [535, 70, 565, 100]
	      Gain		      "LW1_2"
	      Multiplication	      "Matrix(K*u)"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Matrix\nGain2"
	      Position		      [705, 215, 735, 245]
	      Gain		      "LW2_1"
	      Multiplication	      "Matrix(K*u)"
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux1"
	      Ports		      [2, 1]
	      Position		      [425, 54, 465, 116]
	      ShowName		      off
	      Inputs		      "2"
	      DisplayOption	      "signals"
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux2"
	      Ports		      [2, 1]
	      Position		      [425, 199, 465, 261]
	      ShowName		      off
	      Inputs		      "2"
	      DisplayOption	      "signals"
	    }
	    Block {
	      BlockType		      Switch
	      Name		      "Switch"
	      Position		      [210, 270, 240, 300]
	      Threshold		      "0.5"
	    }
	    Block {
	      BlockType		      Switch
	      Name		      "Switch1"
	      Position		      [170, 145, 200, 175]
	      Threshold		      "0.5"
	    }
	    Block {
	      BlockType		      Switch
	      Name		      "Switch2"
	      Position		      [980, 255, 1010, 285]
	      Threshold		      "0.5"
	    }
	    Block {
	      BlockType		      UnitDelay
	      Name		      "Unit Delay1"
	      Position		      [220, 55, 250, 85]
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      UnitDelay
	      Name		      "Unit Delay2"
	      Position		      [280, 85, 310, 115]
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      UnitDelay
	      Name		      "Unit Delay4"
	      Position		      [350, 230, 380, 260]
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      ZeroOrderHold
	      Name		      "Zero-Order\nHold"
	      Position		      [1055, 251, 1090, 289]
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "netsum"
	      Ports		      [3, 1]
	      Position		      [595, 209, 620, 251]
	      TreatAsAtomicUnit	      off
	      MaskDisplay	      "disp('+')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"netsum"
		Location		[320, 85, 820, 386]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		ZoomFactor		"100"
		Block {
		  BlockType		  Inport
		  Name			  "In1"
		  Position		  [20, 50, 40, 70]
		}