📄 c9mballbeam.mdl
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Model {
Name "c9mballbeam"
Version 5.1
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
ShowLoopsOnError on
IgnoreBidirectionalLines off
ShowStorageClass off
SortedOrder 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 "Thu Sep 22 14:02:52 2005"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Prof Xue Dingyu"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Sat Sep 24 19:01:51 2005"
ModelVersionFormat "1.%<AutoIncrement:20>"
ConfigurationManager "None"
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 "40.0"
MaxOrder 5
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-3"
AbsTol "auto"
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 on
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 {
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Gain "1"
Multiplication "Element-wise(K.*u)"
ShowAdditionalParam off
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Inport
Port "1"
PortDimensions "-1"
ShowAdditionalParam off
LatchInput off
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
Interpolate on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType Outport
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
}
Block {
BlockType Scope
Floating off
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
}
Block {
BlockType SignalGenerator
WaveForm "sine"
Amplitude "1"
Frequency "1"
Units "Hertz"
VectorParams1D on
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Trigonometry
Operator "sin"
OutputSignalType "auto"
}
}
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 "c9mballbeam"
Location [475, 306, 1055, 599]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType TransferFcn
Name "Derivative\nw/ filter"
Position [265, 192, 325, 228]
Orientation "left"
ShowName off
FontName "Times New Roman"
FontSize 14
Numerator "[20 0]"
Denominator "[1 20]"
}
Block {
BlockType Gain
Name "Outer Loop Kd"
Position [335, 189, 400, 231]
Orientation "left"
ShowName off
FontName "Times New Roman"
FontSize 14
Gain "Kv_bb"
}
Block {
BlockType Gain
Name "Outer Loop Kp"
Position [155, 91, 225, 139]
ShowName off
FontName "Times New Roman"
FontSize 14
Gain "Kp_bb"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [440, 99, 470, 131]
ShowName off
FontName "Times New Roman"
FontSize 14
Location [188, 365, 512, 604]
Open on
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "yy"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType SignalGenerator
Name "Signal\nGenerator"
Position [70, 100, 100, 130]
ShowName off
FontName "Times New Roman"
FontSize 14
WaveForm "square"
Amplitude "5"
Frequency ".05"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [1, 1]
Position [305, 84, 395, 146]
ShowName off
FontName "Times New Roman"
FontSize 14
TreatAsAtomicUnit off
System {
Name "Subsystem"
Location [191, 130, 564, 346]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [25, 53, 55, 67]
FontName "Times New Roman"
FontSize 12
}
Block {
BlockType Gain
Name "Alpha to Theta"
Position [75, 40, 120, 80]
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "L/r"
}
Block {
BlockType TransferFcn
Name "Derivative\nw/ filter"
Position [235, 147, 275, 183]
FontName "Times New Roman"
FontSize 12
Numerator "100"
Denominator "[1 0 0]"
}
Block {
BlockType Gain
Name "Dynamics of\nthe Ball"
Position [160, 144, 215, 186]
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "g*5/7"
}
Block {
BlockType Saturate
Name "Must \nOpertate\nin Linear\nRegion"
Position [135, 45, 175, 75]
ShowName off
FontName "Times New Roman"
FontSize 12
UpperLimit "50*pi/180"
LowerLimit "-50*pi/180"
}
Block {
BlockType Trigonometry
Name "Non-Linear\nRelationship"
Ports [1, 1]
Position [115, 150, 145, 180]
ShowName off
FontName "Times New Roman"
FontSize 12
}
Block {
BlockType SubSystem
Name "Subsystem1"
Ports [1, 1]
Position [190, 22, 270, 98]
ShowName off
FontName "Times New Roman"
FontSize 12
TreatAsAtomicUnit off
System {
Name "Subsystem1"
Location [328, 167, 728, 402]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "Theta_d"
Position [25, 58, 55, 72]
FontName "Times New Roman"
FontSize 12
}
Block {
BlockType TransferFcn
Name "Derivative\nw/ filter"
Position [190, 142, 250, 178]
Orientation "left"
FontName "Times New Roman"
FontSize 12
Numerator "[50 0]"
Denominator "[1 50]"
}
Block {
BlockType TransferFcn
Name "Derivative\nw/ filter1"
Position [130, 13, 160, 47]
ShowName off
FontName "Times New Roman"
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