car_2dof.mdl

来自「汽车操作动力学的简化2自由度模型」· MDL 代码 · 共 839 行 · 第 1/2 页

	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"240"
	Block {
	  BlockType		  Inport
	  Name			  "转向轮转角"
	  Position		  [15, 138, 45, 152]
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [90, 170, 120, 200]
	  Gain			  "Gr"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [95, 85, 125, 115]
	  Gain			  "Gb"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn"
	  Position		  [145, 165, 235, 205]
	  Numerator		  "[tau_r 1]"
	  Denominator		  "[T2 T1 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn1"
	  Position		  [150, 81, 235, 119]
	  Numerator		  "[tau_b 1]"
	  Denominator		  "[T2 T1 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "质心侧偏角"
	  Position		  [270, 93, 300, 107]
	}
	Block {
	  BlockType		  Outport
	  Name			  "横摆角速度"
	  Position		  [275, 178, 305, 192]
	  Port			  "2"
	}
	Line {
	  SrcBlock		  "转向轮转角"
	  SrcPort		  1
	  Points		  [0, 0; 15, 0]
	  Branch {
	    Points		    [0, 40]
	    DstBlock		    "Gain"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -45]
	    DstBlock		    "Gain1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Transfer Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "Transfer Fcn1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn"
	  SrcPort		  1
	  DstBlock		  "横摆角速度"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn1"
	  SrcPort		  1
	  DstBlock		  "质心侧偏角"
	  DstPort		  1
	}
	Annotation {
	  Name			  "Vehicle Model"
	  Position		  [180, 48]
	  ForegroundColor	  "orange"
	  FontName		  "Arial"
	  FontSize		  15
	  FontWeight		  "bold"
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Vehicle_ODE"
      Ports		      [1, 2]
      Position		      [305, 191, 360, 284]
      BackgroundColor	      "red"
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Vehicle_ODE"
	Location		[125, 145, 1121, 717]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"154"
	Block {
	  BlockType		  Inport
	  Name			  "转向轮转角"
	  Position		  [30, 193, 60, 207]
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [335, 106, 365, 144]
	  ShowName		  off
	  Inputs		  "|+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1]
	  Position		  [325, 258, 350, 302]
	  ShowName		  off
	  Inputs		  "|+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "beta"
	  Ports			  [1, 1]
	  Position		  [180, 115, 210, 145]
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain1"
	  Position		  [265, 115, 300, 145]
	  Gain			  "k11"
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain2"
	  Position		  [265, 209, 300, 241]
	  Gain			  "k12"
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain3"
	  Position		  [105, 159, 140, 191]
	  Gain			  "k13"
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain4"
	  Position		  [265, 270, 300, 300]
	  Gain			  "k22"
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain5"
	  Position		  [265, 169, 300, 201]
	  Gain			  "k21"
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain6"
	  Position		  [105, 215, 140, 245]
	  Gain			  "k23"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "r"
	  Ports			  [1, 1]
	  Position		  [185, 270, 215, 300]
	}
	Block {
	  BlockType		  Outport
	  Name			  "质心侧偏角"
	  Position		  [415, 78, 445, 92]
	}
	Block {
	  BlockType		  Outport
	  Name			  "横摆角速度"
	  Position		  [425, 328, 455, 342]
	  Port			  "2"
	}
	Line {
	  SrcBlock		  "gain5"
	  SrcPort		  1
	  Points		  [5, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "gain4"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "gain1"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "gain2"
	  SrcPort		  1
	  Points		  [15, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "转向轮转角"
	  SrcPort		  1
	  Points		  [0, 0; 20, 0]
	  Branch {
	    Points		    [0, -25]
	    DstBlock		    "gain3"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 30]
	    DstBlock		    "gain6"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  Points		  [0, -25; -185, 0]
	  DstBlock		  "r"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "r"
	  SrcPort		  1
	  Points		  [0, 0; 15, 0]
	  Branch {
	    DstBlock		    "gain4"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -60]
	    DstBlock		    "gain2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "横摆角速度"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "beta"
	  SrcPort		  1
	  Points		  [0, 0; 15, 0]
	  Branch {
	    DstBlock		    "gain1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 55]
	    DstBlock		    "gain5"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -45]
	    DstBlock		    "质心侧偏角"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [0, 35; -205, 0]
	  DstBlock		  "beta"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "gain3"
	  SrcPort		  1
	  Points		  [10, 0; 0, -70; 165, 0]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "gain6"
	  SrcPort		  1
	  Points		  [10, 0; 0, 90; 155, 0]
	  DstBlock		  "Sum1"
	  DstPort		  3
	}
	Annotation {
	  Name			  "Vehicle Model"
	  Position		  [260, 53]
	  ForegroundColor	  "orange"
	  FontName		  "Arial"
	  FontSize		  15
	  FontWeight		  "bold"
	}
      }
    }
    Block {
      BlockType		      Step
      Name		      "方向盘转角"
      Position		      [100, 222, 140, 258]
      After		      "0.2"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Gain
      Name		      "转向系传动比"
      Position		      [170, 222, 220, 258]
      Gain		      "1/isw"
    }
    Line {
      SrcBlock		      "方向盘转角"
      SrcPort		      1
      DstBlock		      "转向系传动比"
      DstPort		      1
    }
    Line {
      SrcBlock		      "State-Space"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      DstBlock		      "Scope1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      DstBlock		      "Scope1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "转向系传动比"
      SrcPort		      1
      Points		      [0, 0; 10, 0]
      Branch {
	Points			[0, 205]
	DstBlock		"State-Space"
	DstPort			1
      }
      Branch {
	Points			[25, 0]
	Branch {
	  DstBlock		  "Vehicle_ODE"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 115]
	  DstBlock		  "Vehicle_G"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Vehicle_ODE"
      SrcPort		      1
      Points		      [35, 0; 0, 10]
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Vehicle_ODE"
      SrcPort		      2
      Points		      [35, 0; 0, -20]
      DstBlock		      "Scope"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Vehicle_G"
      SrcPort		      1
      Points		      [35, 0; 0, 10]
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Vehicle_G"
      SrcPort		      2
      Points		      [35, 0; 0, -20]
      DstBlock		      "Scope2"
      DstPort		      2
    }
    Annotation {
      Name		      "\n方向盘转角输入线性2自由度车辆模型。\n参见《汽"
"车操纵动力学》第七章 郭孔辉\n采用3种方法求解，参数Car_2DOF_Pars.m。\n2005-07-"
"19，孙胜利，[e-mail]"
      Position		      [306, 76]
      FontSize		      20
      FontAngle		      "italic"
    }
  }
}