block421.mdl

来自「realize analysis and design for computer」· MDL 代码 · 共 716 行

Model {
  Name			  "block421"
  Version		  2.00
  SimParamPage		  Solver
  SampleTimeColors	  off
  WideVectorLines	  on
  PaperOrientation	  landscape
  StartTime		  "0.0"
  StopTime		  "999999"
  Solver		  ode45
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  warning
  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
  ZeroCross		  on
  BlockDefaults {
    Orientation		    right
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    NamePlacement	    normal
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    center
    VerticalAlignment	    middle
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
  }
  System {
    Name		    "block421"
    Location		    [199, 195, 621, 461]
    Open		    on
    ScreenColor		    white
    Block {
      BlockType		      SubSystem
      Name		      "Kalman3"
      Position		      [105, 101, 135, 159]
      BackgroundColor	      magenta
      DropShadow	      on
      ShowPortLabels	      off
      System {
	Name			"Kalman3"
	Location		[64, 257, 621, 461]
	Open			off
	ScreenColor		magenta
	Block {
	  BlockType		  Inport
	  Name			  "u"
	  Position		  [50, 50, 70, 70]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Inport
	  Name			  "y"
	  Position		  [50, 100, 70, 120]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Position		  [415, 74, 460, 116]
	  DropShadow		  on
	  ShowName		  off
	  Outputs		  "[3 1]"
	}
	Block {
	  BlockType		  DiscreteStateSpace
	  Name			  "Discrete State-Space"
	  Position		  [280, 73, 395, 117]
	  DropShadow		  on
	  A			  "phi"
	  B			  "[gamma(:,1) K']"
	  C			  "[1 0 0;0 1 0; 0 0 1; 0 0 1]"
	  D			  "[0 0; 0 0; 0 0; 0 0]"
	  X0			  "0"
	  SampleTime		  "h"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Position		  [225, 76, 255, 109]
	  DropShadow		  on
	  ShowName		  off
	  Inputs		  "2"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Position		  [160, 101, 180, 134]
	  DropShadow		  on
	  ShowName		  off
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "ZoH6"
	  Position		  [85, 95, 125, 125]
	  DropShadow		  on
	  ShowName		  off
	  SampleTime		  "[h t0]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "xhat"
	  Position		  [510, 75, 530, 95]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "ZoH6"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  DstBlock		  "ZoH6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "xhat"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  Points		  [10, 0; 0, 45; -335, 0; 0, -25]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "u"
	  SrcPort		  1
	  Points		  [105, 0; 0, 25]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [20, 0; 0, -20]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Discrete State-Space"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Discrete State-Space"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Pulse"
      Position		      [30, 208, 55, 232]
      DropShadow	      on
      ShowPortLabels	      off
      MaskType		      "Pulse"
      MaskDescription	      "Pulse Generator."
      MaskHelp		      "Pulse generator which ensures pulse\\ntransition"
			      "s are hit. Provides a vector of pulses when "
			      "the height is entered as a vector.\\nUnmask "
			      "to see how it works."
      MaskPromptString	      "Pulse width:|Pulse height:|Pulse start time:"
      MaskStyleString	      "edit,edit,edit"
      MaskInitialization      "width=@1;height=@2;tstep=@3;"
      MaskDisplay	      "plot(-30,-10,100,100,[60,35,35,20,20,0],[20,20,8"
			      "0,80,20,20])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      off
      MaskIconUnits	      autoscale
      MaskValueString	      "0.1|-10|25"
      System {
	Name			"Pulse"
	Location		[100, 215, 335, 385]
	Open			off
	ScreenColor		white
	Block {
	  BlockType		  Step
	  Name			  "Step Input1"
	  Position		  [65, 50, 85, 70]
	  ShowName		  off
	  Time			  "tstep"
	  Before		  "0"
	  After			  "height"
	}
	Block {
	  BlockType		  Step
	  Name			  "Step Input2"
	  Position		  [65, 105, 85, 125]
	  ShowName		  off
	  Time			  "tstep+width"
	  Before		  "0"
	  After			  "height"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Position		  [145, 75, 165, 95]
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [205, 75, 225, 95]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Step Input2"
	  SrcPort		  1
	  Points		  [25, 0; 0, -25]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Step Input1"
	  SrcPort		  1
	  Points		  [15, 0; 0, 20]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "out_1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Robot"
      Position		      [250, 105, 280, 160]
      DropShadow	      on
      ShowPortLabels	      off
      System {
	Name			"Robot"
	Location		[42, 365, 453, 546]
	Open			off
	ScreenColor		white
	Block {
	  BlockType		  Inport
	  Name			  "u"
	  Position		  [30, 40, 50, 60]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Inport
	  Name			  "v"
	  Position		  [30, 85, 50, 105]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Position		  [260, 56, 300, 89]
	  Outputs		  "[1 3]"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Position		  [90, 56, 120, 89]
	  DropShadow		  on
	  ShowName		  off
	  Inputs		  "2"
	}
	Block {
	  BlockType		  StateSpace
	  Name			  "robmech"
	  Position		  [150, 54, 225, 96]
	  A			  "om0*[0 1 -1;  al-1 -be1 be1; al  be2 -be2]"
	  B			  "[0 0; ga de; 0 0]"
	  C			  "[0 0 om0;1 0 0; 0 1 0; 0 0 1]"
	  D			  "[0 0; 0 0; 0 0; 0 0]"
	  X0			  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "y"
	  Position		  [350, 25, 370, 45]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "x"
	  Position		  [350, 70, 370, 90]
	  Port			  "2"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "robmech"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "robmech"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "v"
	  SrcPort		  1
	  Points		  [5, 0; 0, -15]
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "u"
	  SrcPort		  1
	  Points		  [5, 0; 0, 15]
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  Points		  [15, 0; 0, -30]
	  DstBlock		  "y"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Step
      Name		      "Step Input"
      Position		      [30, 30, 50, 50]
      DropShadow	      on
      ShowName		      off
      Time		      "0"
      Before		      "0"
      After		      "1"
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator"
      Position		      [305, 135, 325, 155]
      ShowName		      off
    }
    Block {
      BlockType		      SubSystem
      Name		      "dstfb3"
      Position		      [185, 90, 215, 145]
      BackgroundColor	      magenta
      DropShadow	      on
      ShowPortLabels	      off
      System {
	Name			"dstfb3"
	Location		[594, 524, 950, 774]
	Open			off
	ScreenColor		magenta
	Block {
	  BlockType		  Inport
	  Name			  "uc"
	  Position		  [20, 40, 40, 60]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [20, 140, 40, 160]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Position		  [70, 134, 110, 166]
	  BackgroundColor	  magenta
	  ShowName		  off
	  Outputs		  "3"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Position		  [280, 82, 300, 128]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  Inputs		  "+---"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "ZoH4"
	  Position		  [140, 35, 180, 65]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  SampleTime		  "[h t0]"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "ZoH5"
	  Position		  [140, 85, 180, 115]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  SampleTime		  "[h t0]"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "ZoH6"
	  Position		  [140, 135, 180, 165]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  SampleTime		  "[h t0]"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "ZoH7"
	  Position		  [140, 185, 180, 215]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  SampleTime		  "[h t0]"
	}
	Block {
	  BlockType		  Gain
	  Name			  "l3"
	  Position		  [200, 85, 230, 115]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  Gain			  "l1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "l4"
	  Position		  [200, 135, 230, 165]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  Gain			  "l2"
	}
	Block {
	  BlockType		  Gain
	  Name			  "l5"
	  Position		  [200, 185, 230, 215]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  Gain			  "l3"
	}
	Block {
	  BlockType		  Gain
	  Name			  "l6"
	  Position		  [200, 35, 230, 65]
	  BackgroundColor	  magenta
	  DropShadow		  on
	  ShowName		  off
	  Gain			  "lc"
	}
	Block {
	  BlockType		  Outport
	  Name			  "u"
	  Position		  [330, 95, 350, 115]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  Points		  [10, 0]
	  DstBlock		  "ZoH7"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "ZoH6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "ZoH5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "l5"
	  SrcPort		  1
	  Points		  [30, 0]
	  DstBlock		  "Sum2"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "ZoH7"
	  SrcPort		  1
	  DstBlock		  "l5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "l3"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "l4"
	  SrcPort		  1
	  Points		  [20, 0; 0, -40]
	  DstBlock		  "Sum2"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "ZoH6"
	  SrcPort		  1
	  DstBlock		  "l4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "ZoH5"
	  SrcPort		  1
	  DstBlock		  "l3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "l6"
	  SrcPort		  1
	  Points		  [20, 0; 0, 40]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "ZoH4"
	  SrcPort		  1
	  DstBlock		  "l6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "uc"
	  SrcPort		  1
	  DstBlock		  "ZoH4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "u"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Outport
      Name		      "u"
      Position		      [370, 110, 390, 130]
      Port		      "1"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Block {
      BlockType		      Outport
      Name		      "u1"
      Position		      [275, 55, 295, 75]
      Port		      "2"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Block {
      BlockType		      Outport
      Name		      "u2"
      Position		      [200, 30, 220, 50]
      Port		      "3"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      2
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"u"
	DstPort			1
      }
      Branch {
	Points			[55, 0; 0, 75; -265, 0; 0, -50]
	DstBlock		"Kalman3"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Kalman3"
      SrcPort		      1
      DstBlock		      "dstfb3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "dstfb3"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[10, 0; 0, -55; -145, 0; 0, 50]
	DstBlock		"Kalman3"
	DstPort			1
      }
      Branch {
	Points			[10, 0; 0, -55]
	DstBlock		"u1"
	DstPort			1
      }
      Branch {
	DstBlock		"Robot"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"u2"
	DstPort			1
      }
      Branch {
	Points			[100, 0; 0, 65]
	DstBlock		"dstfb3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Pulse"
      SrcPort		      1
      Points		      [170, 0; 0, -75]
      DstBlock		      "Robot"
      DstPort		      2
    }
  }
}