📄 sldemo_absbrake_digest4p1.mdl
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Block {
BlockType Gain
Name "1/I"
Position [450, 33, 480, 67]
ShowName off
Gain "1/I"
}
Block {
BlockType SubSystem
Name "Bang-bang\ncontroller"
Ports [1, 1]
Position [100, 35, 130, 65]
ShowPortLabels off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskType "Sign"
MaskDescription "y = sign(x)"
MaskHelp "Sign Function:\\n\\t\\t\\ty = 1 if x > "
"0\\n\\t\\t\\ty = 0 if x = 0\\n\\t\\t\\ty = -1 if x < 0"
MaskDisplay "plot(-50,-50,50,50,[-50,50],[0,0],[0,0]"
",[-50,50],[-40,0],[-30,-30],[0,40],[30,30])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Bang-bang\ncontroller"
Location [163, 412, 609, 606]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins "[0.500000, 0.500000, 0.500000, 0.5000"
"00]"
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "in_1"
Position [35, 30, 55, 50]
IconDisplay "Port number"
}
Block {
BlockType Constant
Name "Constant"
Position [65, 105, 85, 125]
Value "0"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion1"
Position [210, 36, 265, 64]
ShowName off
OutDataTypeMode "double"
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion2"
Position [210, 96, 265, 124]
ShowName off
OutDataTypeMode "double"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [140, 32, 170, 63]
Operator ">"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
Position [140, 92, 170, 123]
Operator "<"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [305, 64, 325, 91]
Inputs "+-"
}
Block {
BlockType Outport
Name "out_1"
Position [360, 70, 380, 90]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Data Type Conversion2"
SrcPort 1
Points [20, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Data Type Conversion1"
SrcPort 1
Points [20, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "out_1"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "Data Type Conversion1"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
DstBlock "Data Type Conversion2"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [20, 0]
Branch {
Points [0, -60]
DstBlock "Relational\nOperator"
DstPort 2
}
Branch {
DstBlock "Relational\nOperator1"
DstPort 2
}
}
Line {
SrcBlock "in_1"
SrcPort 1
Points [35, 0]
Branch {
Points [0, 60]
DstBlock "Relational\nOperator1"
DstPort 1
}
Branch {
DstBlock "Relational\nOperator"
DstPort 1
}
}
}
}
Block {
BlockType Integrator
Name "Brake\npressure"
Ports [1, 1]
Position [240, 35, 280, 65]
LimitOutput on
UpperSaturationLimit "PBmax"
LowerSaturationLimit "0"
IgnoreLimit off
}
Block {
BlockType Gain
Name "Force &\ntorque"
Position [310, 32, 350, 68]
Gain "Kf"
Port {
PortNumber 1
Name "brake torque"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
DataLoggingName "%<SignalLabel>"
}
}
Block {
BlockType TransferFcn
Name "Hydraulic Lag "
Position [160, 32, 215, 68]
Numerator "[100]"
Denominator "[TB 1]"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [410, 40, 430, 60]
ShowName off
IconShape "round"
Inputs "|-+"
}
Block {
BlockType Integrator
Name "Wheel\nSpeed"
Ports [1, 1]
Position [505, 29, 535, 71]
InitialCondition "v0/Rr"
LimitOutput on
UpperSaturationLimit "1000"
LowerSaturationLimit "0"
IgnoreLimit off
Port {
PortNumber 1
Name "Ww"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
DataLoggingName "%<SignalLabel>"
}
}
Block {
BlockType Outport
Name "WheelSpeed"
Position [585, 43, 615, 57]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "1/I"
SrcPort 1
DstBlock "Wheel\nSpeed"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "1/I"
DstPort 1
}
Line {
Name "brake torque"
Labels [0, 0]
SrcBlock "Force &\ntorque"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Brake\npressure"
SrcPort 1
DstBlock "Force &\ntorque"
DstPort 1
}
Line {
SrcBlock "Bang-bang\ncontroller"
SrcPort 1
DstBlock "Hydraulic Lag "
DstPort 1
}
Line {
SrcBlock "Hydraulic Lag "
SrcPort 1
DstBlock "Brake\npressure"
DstPort 1
}
Line {
SrcBlock "BrakeSignal"
SrcPort 1
Points [0, 0]
DstBlock "Bang-bang\ncontroller"
DstPort 1
}
Line {
Name "Ww"
Labels [0, 0]
SrcBlock "Wheel\nSpeed"
SrcPort 1
Points [0, 0]
DstBlock "WheelSpeed"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Tire Torque"
SrcPort 1
Points [160, 0]
DstBlock "Sum"
DstPort 2
}
}
}
Block {
BlockType Reference
Name "Check for positive\nvehicle speed"
Description "0 < u"
Ports [1]
Position [460, 192, 520, 238]
SourceBlock "simulink/Model\nVerification/Check Static "
"\nLower Bound"
SourceType "Checks_SMin"
ShowPortLabels on
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
min "0"
min_included off
enabled on
callback "warning('Vehicle Speed equals zero. Tire/br"
"ake model is no longer valid.')"
stopWhenAssertionFail on
export off
icon "graphic"
}
Block {
BlockType Constant
Name "Desired\nrelative\nslip"
Position [25, 27, 55, 53]
Value "0.2"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [635, 30, 640, 260]
BackgroundColor "black"
ShowName off
Inputs "3"
Port {
PortNumber 1
Name "yout"
PropagatedSignals "Ww, Vs, Sd"
TestPoint on
RTWStorageClass "Auto"
DataLogging on
DataLoggingNameMode "SignalName"
DataLoggingName "yout"
}
}
Block {
BlockType Constant
Name "No Brake"
Position [180, 82, 210, 108]
Value "-1"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Fcn
Name "Relative Slip"
Position [270, 272, 435, 298]
Orientation "left"
Expr "1.0 - u(1)/(u(2) + (u(2)==0)*eps)"
Port {
PortNumber 1
Name "slp"
TestPoint on
RTWStorageClass "Auto"
DataLogging on
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Rr"
Position [305, 67, 345, 103]
ShowName off
Gain "Rr"
Port {
PortNumber 1
Name "tire torque"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
DataLoggingName "%<SignalLabel>"
}
}
Block {
BlockType Integrator
Name "Stopping distance"
Ports [1, 1]
Position [560, 201, 590, 239]
UpperSaturationLimit "1000"
LowerSaturationLimit "0"
IgnoreLimit off
Port {
PortNumber 1
Name "Sd"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [90, 30, 110, 50]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Switch
Name "Switch"
Position [245, 35, 275, 65]
Threshold ".5"
InputSameDT off
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "BrakeSignal"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Vehicle speed\n(angular)"
Position [555, 127, 595, 163]
Gain "1/Rr"
Port {
PortNumber 1
Name "Vs"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Weight"
Position [200, 133, 245, 167]
Gain "m*g/4"
Port {
PortNumber 1
Name "Ff"
RTWStorageClass "Auto"
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