mrefrobotarm2.mdl

神经网络预测控制程序的源代码

		Block {
		  BlockType		  Inport
		  Name			  "In2"
		  Position		  [20, 90, 40, 110]
		  Port			  "2"
		}
		Block {
		  BlockType		  Inport
		  Name			  "In3"
		  Position		  [20, 130, 40, 150]
		  Port			  "3"
		}
		Block {
		  BlockType		  Sum
		  Name			  "netsum"
		  Ports			  [3, 1]
		  Position		  [90, 59, 115, 101]
		  Inputs		  "3"
		}
		Block {
		  BlockType		  Outport
		  Name			  "Out1"
		  Position		  [145, 80, 165, 100]
		}
		Line {
		  SrcBlock		  "In1"
		  SrcPort		  1
		  DstBlock		  "netsum"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "In2"
		  SrcPort		  1
		  DstBlock		  "netsum"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "In3"
		  SrcPort		  1
		  DstBlock		  "netsum"
		  DstPort		  3
		}
		Line {
		  SrcBlock		  "netsum"
		  SrcPort		  1
		  DstBlock		  "Out1"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "netsum1"
	      Ports		      [2, 1]
	      Position		      [765, 220, 790, 255]
	      TreatAsAtomicUnit	      off
	      MaskDisplay	      "disp('+')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"netsum1"
		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, 65, 40, 85]
		}
		Block {
		  BlockType		  Inport
		  Name			  "In2"
		  Position		  [20, 105, 40, 125]
		  Port			  "2"
		}
		Block {
		  BlockType		  Sum
		  Name			  "netsum1"
		  Ports			  [2, 1]
		  Position		  [90, 60, 115, 95]
		  Inputs		  "2"
		}
		Block {
		  BlockType		  Outport
		  Name			  "Out1"
		  Position		  [145, 80, 165, 100]
		}
		Line {
		  SrcBlock		  "In1"
		  SrcPort		  1
		  DstBlock		  "netsum1"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "In2"
		  SrcPort		  1
		  DstBlock		  "netsum1"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "netsum1"
		  SrcPort		  1
		  DstBlock		  "Out1"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "purelin"
	      Ports		      [1, 1]
	      Position		      [805, 228, 830, 252]
	      TreatAsAtomicUnit	      off
	      MaskDisplay	      "plot([-1 1],[0 0],[-1 1],[-1 1])"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"purelin"
		Location		[144, 218, 404, 300]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		ZoomFactor		"100"
		Block {
		  BlockType		  Inport
		  Name			  "n"
		  Position		  [25, 33, 55, 47]
		}
		Block {
		  BlockType		  Outport
		  Name			  "a"
		  Position		  [205, 33, 235, 47]
		}
		Line {
		  SrcBlock		  "n"
		  SrcPort		  1
		  DstBlock		  "a"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "tansig"
	      Ports		      [1, 1]
	      Position		      [645, 218, 670, 242]
	      TreatAsAtomicUnit	      off
	      MaskDisplay	      "plot([-1 1],[0 0],[-1 -.9 -.8 -.7 -.6 -"
".5 -.4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1],2./(1+exp(-8*[-1 -.9 -.8 -"
".7 -.6 -.5 -.4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1]))-1)"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"tansig"
		Location		[0, 38, 640, 480]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		ZoomFactor		"100"
		Block {
		  BlockType		  Inport
		  Name			  "n"
		  Position		  [25, 33, 55, 47]
		}
		Block {
		  BlockType		  Math
		  Name			  "Exp"
		  Ports			  [1, 1]
		  Position		  [155, 25, 185, 55]
		  MaskIconFrame		  on
		  MaskIconOpaque	  on
		  MaskIconRotate	  "none"
		  MaskIconUnits		  "autoscale"
		}
		Block {
		  BlockType		  Gain
		  Name			  "Gain"
		  Position		  [90, 25, 120, 55]
		  Gain			  "-2"
		}
		Block {
		  BlockType		  Gain
		  Name			  "Gain1"
		  Position		  [370, 30, 400, 60]
		  Gain			  "2"
		}
		Block {
		  BlockType		  Math
		  Name			  "Reciprocal"
		  Ports			  [1, 1]
		  Position		  [295, 30, 325, 60]
		  Operator		  "reciprocal"
		  MaskIconFrame		  on
		  MaskIconOpaque	  on
		  MaskIconRotate	  "none"
		  MaskIconUnits		  "autoscale"
		}
		Block {
		  BlockType		  Sum
		  Name			  "Sum"
		  Ports			  [2, 1]
		  Position		  [225, 27, 255, 58]
		}
		Block {
		  BlockType		  Sum
		  Name			  "Sum1"
		  Ports			  [2, 1]
		  Position		  [445, 27, 475, 58]
		  Inputs		  "+-"
		}
		Block {
		  BlockType		  Constant
		  Name			  "one"
		  Position		  [160, 85, 180, 105]
		}
		Block {
		  BlockType		  Constant
		  Name			  "one1"
		  Position		  [375, 85, 395, 105]
		}
		Block {
		  BlockType		  Outport
		  Name			  "a"
		  Position		  [515, 38, 545, 52]
		}
		Line {
		  SrcBlock		  "n"
		  SrcPort		  1
		  DstBlock		  "Gain"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Gain"
		  SrcPort		  1
		  DstBlock		  "Exp"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Exp"
		  SrcPort		  1
		  Points		  [20, 0]
		  DstBlock		  "Sum"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "one"
		  SrcPort		  1
		  Points		  [25, 0]
		  DstBlock		  "Sum"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "Sum"
		  SrcPort		  1
		  DstBlock		  "Reciprocal"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Reciprocal"
		  SrcPort		  1
		  DstBlock		  "Gain1"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Gain1"
		  SrcPort		  1
		  Points		  [25, 0]
		  DstBlock		  "Sum1"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "one1"
		  SrcPort		  1
		  Points		  [30, 0]
		  DstBlock		  "Sum1"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "Sum1"
		  SrcPort		  1
		  DstBlock		  "a"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "yhat"
	      Position		      [1120, 263, 1150, 277]
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "yhat1"
	      Position		      [730, 153, 760, 167]
	      Port		      "2"
	    }
	    Line {
	      SrcBlock		      "netsum1"
	      SrcPort		      1
	      DstBlock		      "purelin"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      Points		      [10, 0; 0, -55]
	      DstBlock		      "netsum1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain2"
	      SrcPort		      1
	      DstBlock		      "netsum1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "netsum"
	      SrcPort		      1
	      DstBlock		      "tansig"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "netsum"
	      DstPort		      3
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain1"
	      SrcPort		      1
	      Points		      [10, 0]
	      DstBlock		      "netsum"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Matrix\nGain"
	      SrcPort		      1
	      DstBlock		      "netsum"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "tansig"
	      SrcPort		      1
	      Points		      [5, 0]
	      Branch {
		DstBlock		"Matrix\nGain2"
		DstPort			1
	      }
	      Branch {
		Points			[0, -70]
		DstBlock		"yhat1"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Constant4"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Switch2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Fcn2"
	      SrcPort		      1
	      Points		      [70, 0]
	      DstBlock		      "Switch2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "purelin"
	      SrcPort		      1
	      Points		      [0, 0]
	      Branch {
		DstBlock		"Fcn2"
		DstPort			1
	      }
	      Branch {
		Points			[0, 40]
		DstBlock		"Switch2"
		DstPort			3
	      }
	    }
	    Line {
	      SrcBlock		      "Mux2"
	      SrcPort		      1
	      DstBlock		      "Matrix\nGain"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Fcn"
	      SrcPort		      1
	      Points		      [0, 40]
	      DstBlock		      "Switch"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "u"
	      SrcPort		      1
	      Points		      [5, 0]
	      Branch {
		Points			[5, 0]
		DstBlock		"Fcn"
		DstPort			1
	      }
	      Branch {
		Points			[0, 110; 70, 0]
		DstBlock		"Switch"
		DstPort			3
	      }
	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      Points		      [25, 0]
	      DstBlock		      "Switch"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Mux1"
	      SrcPort		      1
	      DstBlock		      "Matrix\nGain1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant3"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Switch1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Switch1"
	      SrcPort		      1
	      DstBlock		      "Unit Delay1"
	      DstPort		      1
	    }
	    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
	      }
	    }
	    Line {
	      SrcBlock		      "Unit Delay1"
	      SrcPort		      1
	      Points		      [10, 0]
	      Branch {
		DstBlock		"Mux1"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Unit Delay2"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Unit Delay2"
	      SrcPort		      1
	      DstBlock		      "Mux1"