📄 ins_simulation.mdl
字号:
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "3"
catMethod "Vertical"
}
Block {
BlockType Reference
Name "Matrix\nConcatenation1"
Ports [3, 1]
Position [150, 224, 205, 266]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "3"
catMethod "Vertical"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [590, 431, 595, 469]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [900, 156, 945, 189]
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [935, 100, 980, 135]
InputSameDT off
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [245, 110, 275, 145]
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product3"
Ports [2, 1]
Position [510, 340, 545, 375]
Inputs "/*"
InputSameDT off
}
Block {
BlockType Product
Name "Product4"
Ports [2, 1]
Position [510, 400, 545, 435]
Inputs "/*"
InputSameDT off
}
Block {
BlockType Product
Name "Product5"
Ports [2, 1]
Position [515, 465, 550, 500]
Inputs "/*"
InputSameDT off
}
Block {
BlockType Product
Name "Product6"
Ports [2, 1]
Position [515, 525, 550, 560]
Inputs "/*"
InputSameDT off
}
Block {
BlockType Sum
Name "Sum"
Ports [4, 1]
Position [325, 410, 385, 450]
ShowName off
IconShape "round"
Inputs "++++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [385, 115, 435, 145]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Reference
Name "T tranmatrix"
Ports [3, 1]
Position [790, 429, 845, 471]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "3"
catMethod "Horizontal"
}
Block {
BlockType Reference
Name "第二行"
Ports [4, 1]
Position [660, 104, 715, 146]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "4"
catMethod "Horizontal"
}
Block {
BlockType Reference
Name "第三行"
Ports [4, 1]
Position [665, 179, 720, 221]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "4"
catMethod "Horizontal"
}
Block {
BlockType Reference
Name "第四行"
Ports [4, 1]
Position [665, 254, 720, 296]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "4"
catMethod "Horizontal"
}
Block {
BlockType Reference
Name "第一行"
Ports [4, 1]
Position [660, 29, 715, 71]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "4"
catMethod "Horizontal"
}
Block {
BlockType Math
Name "开方"
Ports [1, 1]
Position [430, 415, 460, 445]
Operator "sqrt"
}
Block {
BlockType Math
Name "平方"
Ports [1, 1]
Position [220, 330, 250, 360]
Operator "square"
}
Block {
BlockType Math
Name "平方1"
Ports [1, 1]
Position [220, 385, 250, 415]
Operator "square"
}
Block {
BlockType Math
Name "平方2"
Ports [1, 1]
Position [220, 435, 250, 465]
Operator "square"
}
Block {
BlockType Math
Name "平方3"
Ports [1, 1]
Position [220, 490, 250, 520]
Operator "square"
}
Block {
BlockType Reference
Name "输出为角速度阵"
Ports [4, 1]
Position [825, 124, 880, 166]
SourceBlock "simulink/Math\nOperations/Matrix\nC"
"oncatenation"
SourceType "Matrix Concatenation"
numInports "4"
catMethod "Vertical"
}
Block {
BlockType Outport
Name "T"
Position [935, 443, 965, 457]
}
Line {
SrcBlock "Wipx1"
SrcPort 1
Points [25, 0; 0, 30]
DstBlock "Matrix\nConcatenation"
DstPort 1
}
Line {
SrcBlock "Wipz1"
SrcPort 1
DstBlock "Matrix\nConcatenation"
DstPort 3
}
Line {
SrcBlock "Wiby"
SrcPort 1
DstBlock "Matrix\nConcatenation1"
DstPort 2
}
Line {
SrcBlock "Wibx"
SrcPort 1
Points [20, 0; 0, 20]
DstBlock "Matrix\nConcatenation1"
DstPort 1
}
Line {
SrcBlock "Wibz"
SrcPort 1
Points [20, 0; 0, -20]
DstBlock "Matrix\nConcatenation1"
DstPort 3
}
Line {
SrcBlock "Matrix\nConcatenation1"
SrcPort 1
Points [200, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Wipy1"
SrcPort 1
Points [15, 0; 0, 15]
DstBlock "Matrix\nConcatenation"
DstPort 2
}
Line {
SrcBlock "Cbp(姿态矩阵的转置)"
SrcPort 1
Points [135, 0; 0, 70]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Matrix\nConcatenation"
SrcPort 1
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Dot Product1"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 0; 65, 0]
Branch {
Points [0, 35]
Branch {
DstBlock "Dot Product2"
DstPort 2
}
Branch {
Points [0, 60]
DstBlock "Dot Product3"
DstPort 2
}
}
Branch {
DstBlock "Dot Product1"
DstPort 2
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Dot Product2"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
DstBlock "Dot Product3"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
DstBlock "第一行"
DstPort 1
}
Branch {
Points [0, 85]
Branch {
DstBlock "第二行"
DstPort 2
}
Branch {
Points [0, 85]
Branch {
DstBlock "第三行"
DstPort 3
}
Branch {
Labels [1, 0]
Points [0, 110; 45, 0; 0, -25]
DstBlock "第四行"
DstPort 4
}
}
}
}
Line {
SrcBlock "Dot Product1"
SrcPort 1
Points [25, 0]
Branch {
Points [20, 0]
Branch {
Points [0, -50]
DstBlock "第一行"
DstPort 2
}
Branch {
Points [0, 15]
DstBlock "第二行"
DstPort 1
}
}
Branch {
Points [0, 120]
Branch {
DstBlock "第三行"
DstPort 4
}
Branch {
Points [0, 65]
DstBlock "Gain4"
DstPort 1
}
}
}
Line {
SrcBlock "Dot Product2"
SrcPort 1
Points [50, 0]
Branch {
Points [0, -105]
DstBlock "第一行"
DstPort 3
}
Branch {
DstBlock "Gain2"
DstPort 1
}
Branch {
Points [0, 25]
Branch {
DstBlock "第三行"
DstPort 1
}
Branch {
Points [0, 85]
DstBlock "第四行"
DstPort 2
}
}
}
Line {
SrcBlock "第一行"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "第二行"
DstPort 4
}
Line {
SrcBlock "Dot Product3"
SrcPort 1
Points [50, 0]
Branch {
Points [0, 0]
Branch {
DstBlock "Gain3"
DstPort 1
}
Branch {
Points [0, 40]
DstBlock "第四行"
DstPort 1
}
}
Branch {
Points [0, -90]
Branch {
Points [0, -65]
DstBlock "第一行"
DstPort 4
}
Branch {
DstBlock "第二行"
DstPort 3
}
}
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [0, -25]
DstBlock "第三行"
DstPort 2
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "第四行"
DstPort 3
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [15, 0; 0, 80]
DstBlock "输出为角速度阵"
DstPort 1
}
Line {
SrcBlock "第二行"
SrcPort 1
Points [45, 0; 0, 15]
DstBlock "输出为角速度阵"
DstPort 2
}
Line {
SrcBlock "第三行"
SrcPort 1
Points [40, 0; 0, -50]
DstBlock "输出为角速度阵"
DstPort 3
}
Line {
SrcBlock "第四行"
SrcPort 1
Points [65, 0; 0, -115]
DstBlock "输出为角速度阵"
DstPort 4
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [40, 0]
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "Product1"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 85; -955, 0; 0, 30]
Branch {
Points [0, 55]
Branch {
Points [0, 50]
Branch {
DstBlock "Dot Product7"
DstPort 2
}
Branch {
Points [0, 55]
DstBlock "Dot Product8"
DstPort 2
}
}
Branch {
DstBlock "Dot Product6"
DstPort 2
}
}
Branch {
DstBlock "Dot Product5"
DstPort 2
}
}
Branch {
Points [-95, 0; 0, -55]
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -