📄 rotary double inverted pendulum;sim mechanics model.m
字号:
PortType "env"
PhysicalDomain "Mechanical"
ClassName "Environment"
DialogTemplateClass "MECH.MachineEnvironment"
SyncWhenCopied "off"
Gravity "[0 -9.81 0]"
GravityUnits "m/s^2"
GravityAsSignal off
Dimensionality "Auto-detect"
AnalysisType "Forward dynamics"
LinearAssemblyTolerance "1e-3"
LinearAssemblyToleranceUnits "m"
AngularAssemblyTolerance "1e-3"
AngularAssemblyToleranceUnits "rad"
ConstraintSolverType "Stabilizing"
ConstraintRelTolerance "1e-4"
ConstraintAbsTolerance "1e-4"
UseRobustSingularityHandling off
StatePerturbationType "Fixed"
PerturbationSize "1e-5"
VisualizeMachine on
}
Block {
BlockType RandomNumber
Name "Random\nNumber"
Position [375, 120, 405, 150]
SampleTime "0"
}
Block {
BlockType RandomNumber
Name "Random\nNumber1"
Position [380, 325, 410, 355]
SampleTime "0"
}
Block {
BlockType Reference
Name "Revolute"
Ports [0, 0, 0, 0, 0, 2, 2]
Position [410, 216, 460, 269]
SourceBlock "mblibv1/Joints/Revolute"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0|SA1"
RConnTagsString "__newr0|SA1"
NumSAPorts "2"
CutJoint "off"
MarkAsCut "off"
Primitives "revolute"
PrimitiveProps "R1$WORLD$[0 1 0]$revolute"
ClassName "Joint"
DialogClass "JointBlock"
}
Block {
BlockType Reference
Name "Revolute1"
Ports [0, 0, 0, 0, 0, 3, 2]
Position [600, 193, 650, 247]
SourceBlock "mblibv1/Joints/Revolute"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0|SA1|SA2"
RConnTagsString "__newr0|SA1"
NumSAPorts "3"
CutJoint "off"
MarkAsCut "off"
Primitives "revolute"
PrimitiveProps "R1$Base$[0 0 1]$revolute"
ClassName "Joint"
DialogClass "JointBlock"
}
Block {
BlockType Reference
Name "Revolute2"
Ports [0, 0, 0, 0, 0, 3, 2]
Position [755, 93, 805, 147]
SourceBlock "mblibv1/Joints/Revolute"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0|SA1|SA2"
RConnTagsString "__newr0|SA1"
NumSAPorts "3"
CutJoint "off"
MarkAsCut "off"
Primitives "revolute"
PrimitiveProps "R1$Base$[0 0 1]$revolute"
ClassName "Joint"
DialogClass "JointBlock"
}
Block {
BlockType Outport
Name "Arm angle"
Position [505, 388, 535, 402]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Pendulum angle"
Position [785, 288, 815, 302]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "pendulum2 angle"
Position [990, 193, 1020, 207]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Arm velocity"
Position [505, 418, 535, 432]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Pendulum velocity"
Position [785, 333, 815, 347]
Port "5"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Pendulum2 velocity1"
Position [970, 253, 1000, 267]
Port "6"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
LineType "Connection"
SrcBlock "Ground"
SrcPort RConn1
Points [5, 0]
DstBlock "Revolute"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Revolute"
SrcPort RConn1
Points [0, -15]
DstBlock "Body"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Machine\nEnvironment"
SrcPort RConn1
Points [0, 0]
DstBlock "Ground"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Revolute1"
SrcPort RConn2
Points [5, 0; 0, 55; -50, 0; 0, 30]
DstBlock "Joint Sensor"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Body1"
SrcPort LConn1
Points [5, 0]
DstBlock "Revolute1"
DstPort RConn1
}
Line {
LineType "Connection"
SrcBlock "Joint Actuator1"
SrcPort RConn1
Points [45, 0; 0, -85]
DstBlock "Revolute"
DstPort LConn2
}
Line {
LineType "Connection"
SrcBlock "Joint Initial Condition"
SrcPort RConn1
Points [0, -30; 40, 0]
DstBlock "Revolute1"
DstPort LConn2
}
Line {
SrcBlock "Joint Sensor"
SrcPort 1
Points [0, -5; 10, 0; 0, -10]
DstBlock "Pendulum angle"
DstPort 1
}
Line {
SrcBlock "Joint Sensor"
SrcPort 2
Points [0, -10; 35, 0; 0, 20]
DstBlock "Pendulum velocity"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-25, 0; 0, -105]
DstBlock "Add1"
DstPort 2
}
Line {
SrcBlock "Torque Input"
SrcPort 1
Points [25, 0; 0, 15]
DstBlock "Add1"
DstPort 1
}
Line {
SrcBlock "Add1"
SrcPort 1
DstBlock "Joint Actuator1"
DstPort 1
}
Line {
LineType "Connection"
SrcBlock "Revolute"
SrcPort RConn2
Points [5, 0; 0, 40; -85, 0; 0, 85; -60, 0; 0, 30]
DstBlock "Joint Sensor1"
DstPort LConn1
}
Line {
SrcBlock "Joint Sensor1"
SrcPort 1
Points [5, 0; 0, -5]
DstBlock "Arm angle"
DstPort 1
}
Line {
SrcBlock "Joint Sensor1"
SrcPort 2
Points [15, 0; 0, 10]
Branch {
Points [0, 20]
DstBlock "Gain1"
DstPort 1
}
Branch {
Points [0, -5]
DstBlock "Arm velocity"
DstPort 1
}
}
Line {
LineType "Connection"
SrcBlock "Body"
SrcPort RConn1
Points [0, -15]
DstBlock "Revolute1"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Body1"
SrcPort RConn1
DstBlock "Revolute2"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Revolute2"
SrcPort RConn1
Points [5, 0; 0, 35]
DstBlock "Body2"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Joint Sensor2"
SrcPort LConn1
Points [-5, 0; 0, -75]
DstBlock "Revolute2"
DstPort RConn2
}
Line {
SrcBlock "Joint Sensor2"
SrcPort 1
Points [15, 0; 0, -10; 70, 0; 0, 10]
DstBlock "pendulum2 angle"
DstPort 1
}
Line {
SrcBlock "Joint Sensor2"
SrcPort 2
Points [10, 0; 0, 25; 50, 0; 0, 10; 10, 0; 0, 5]
DstBlock "Pendulum2 velocity1"
DstPort 1
}
Line {
LineType "Connection"
SrcBlock "Joint Initial Condition1"
SrcPort RConn1
Points [5, 0; 0, -10; -15, 0; 0, -35]
DstBlock "Revolute2"
DstPort LConn2
}
Line {
LineType "Connection"
SrcBlock "Joint Actuator"
SrcPort RConn1
DstBlock "Revolute2"
DstPort LConn3
}
Line {
SrcBlock "Random\nNumber"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [25, 0; 0, 5]
DstBlock "Joint Actuator"
DstPort 1
}
Line {
SrcBlock "Random\nNumber1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [25, 0; 0, 5]
DstBlock "Joint Actuator2"
DstPort 1
}
Line {
LineType "Connection"
SrcBlock "Joint Actuator2"
SrcPort RConn1
Points [5, 0; 0, -80; -50, 0; 0, -25]
DstBlock "Revolute1"
DstPort LConn3
}
}
}
Block {
BlockType Gain
Name "Gain"
Position [215, 305, 245, 335]
Orientation "left"
Gain ".5369"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
Position [315, 445, 345, 475]
Gain "2"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "LQR"
Position [435, 280, 465, 310]
Orientation "left"
Gain "[4.4721 -74.4026 -99.7716 3.9597 -21.9615"
" -13.7615]"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Mux
Name "Mux"
Ports [6, 1]
Position [415, 77, 445, 228]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType RandomNumber
Name "Random\nNumber"
Position [230, 445, 260, 475]
Mean "1"
SampleTime "0"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [580, 95, 640, 125]
VariableName "c"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [600, 320, 660, 350]
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Outport
Name "Out1"
Position [555, 148, 585, 162]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Add"
SrcPort 1
Points [-60, 0; 0, -200]
DstBlock "Furuta Pendulum SYstem"
DstPort 1
}
Line {
SrcBlock "Furuta Pendulum SYstem"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Furuta Pendulum SYstem"
SrcPort 2
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Furuta Pendulum SYstem"
SrcPort 3
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Furuta Pendulum SYstem"
SrcPort 4
Points [25, 0]
Branch {
DstBlock "Mux"
DstPort 4
}
Branch {
Points [0, 155]
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "Furuta Pendulum SYstem"
SrcPort 5
DstBlock "Mux"
DstPort 5
}
Line {
SrcBlock "Furuta Pendulum SYstem"
SrcPort 6
DstBlock "Mux"
DstPort 6
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [25, 0]
Branch {
Points [30, 0]
Branch {
DstBlock "Out1"
DstPort 1
}
Branch {
Points [0, 140]
DstBlock "LQR"
DstPort 1
}
}
Branch {
Points [0, -45]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [-5, 0]
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "LQR"
SrcPort 1
Points [-225, 0]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "Random\nNumber"
SrcPort 1
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [20, 0; 0, -60]
DstBlock "Add"
DstPort 3
}
}
}
MatData {
NumRecords 1
DataRecord {
Tag DataTag0
Data " %)30 . 6 8 ( ! % "
"\" $ D 0 0 ) &QE;6UE8R]&=7)U=&$@4&5N9'5L=6T@4UES=&5M"
"+T=R;W5N9 "
}
}
⌨️ 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 + -