sltbu.mdl

模糊逻辑工具箱 模糊逻辑工具箱 模糊逻辑工具箱 模糊逻辑工具箱 模糊逻辑工具箱

# $Revision: 1.7 $
Model {
  Name			  "sltbu"
  Version		  2.20
  SimParamPage		  Solver
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  on
  ShowLineWidths	  off
  StartTime		  "0.0"
  StopTime		  "999999"
  Solver		  ode3
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "0.1"
  InitialStep		  "auto"
  FixedStep		  "0.1"
  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
  SimulationMode	  normal
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWPlaceOutputsASAP	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_vc.tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  PreLoadFcn		  "inittbu;"
  CloseFcn		  "[winName] = get_param(0, 'CurrentSystem'); AnimFigT"
"itle = [winName, ': Truck Backer-Upper Animation']; AnimFigH = findobj(0,'Nam"
"e',AnimFigTitle); close(AnimFigH)"
  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
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    normal
    FontAngle		    normal
  }
  System {
    Name		    "sltbu"
    Location		    [136, 183, 826, 638]
    Open		    on
    ToolBar		    on
    StatusBar		    on
    ScreenColor		    white
    PaperOrientation	    landscape
    PaperPositionMode	    auto
    PaperType		    usletter
    PaperUnits		    inches
    Block {
      BlockType		      "S-Function"
      Name		      " Animation &\nHuman Controller"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [520, 95, 585, 125]
      FunctionName	      "animtbu"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [75, 390, 95, 410]
      Orientation	      up
      Value		      "1"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "Controller 1"
      Position		      [320, 260, 375, 290]
      Orientation	      left
      MATLABFcn		      "ctrltbu1"
      OutputWidth	      "1"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "Controller 2"
      Position		      [320, 310, 375, 340]
      Orientation	      left
      MATLABFcn		      "ctrltbu2"
      OutputWidth	      "1"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
    }
    Block {
      BlockType		      Fcn
      Name		      "Distance"
      Position		      [335, 210, 370, 240]
      Orientation	      left
      Expr		      "sqrt(u[1]^2+u[2]^2)"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
    }
    Block {
      BlockType		      SubSystem
      Name		      "Double click\non this for demo.5"
      Ports		      [0, 0, 0, 0, 0]
      Position		      [500, 377, 641, 410]
      DropShadow	      on
      ShowName		      off
      OpenFcn		      "inittbu"
      ShowPortLabels	      off
      MaskDisplay	      "disp('Variable Initialization')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      System {
	Name			"Double click\non this for demo.5"
	Location		[-10, 380, 117, 533]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		white
	PaperOrientation	landscape
	PaperPositionMode	auto
	PaperType		usletter
	PaperUnits		inches
      }
    }
    Block {
      BlockType		      "S-Function"
      Name		      "Fuzzy Logic Controller"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [145, 264, 200, 316]
      Orientation	      left
      FunctionName	      "sffis"
      Parameters	      "fismatrix"
      PortCounts	      "[]"
      SFunctionModules	      "sfsup"
      MaskType		      "FIS"
      MaskDescription	      "FIS"
      MaskHelp		      "Fuzzy Inference System"
      MaskPromptString	      "FIS Matrix:"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskInitialization      "fismatrix = @1;"
      MaskDisplay	      "plot(0, -0.3, 6, -0.3, 0, 1.2, 6, 1.2, [0 6], ["
"0 0], [1 2 3],[0 1 0],[2 3 4],[0 1 0],[3 4 5],[0 1 0])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      MaskValueString	      "fismat"
    }
    Block {
      BlockType		      Stop
      Name		      "Stop\nsimulation"
      Position		      [595, 19, 630, 51]
    }
    Block {
      BlockType		      Switch
      Name		      "Switch"
      Position		      [69, 190, 101, 215]
      Orientation	      up
      Threshold		      "0"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
    }
    Block {
      BlockType		      SubSystem
      Name		      "Truck\nKinematics"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [290, 131, 340, 179]
      ShowPortLabels	      off
      MaskType		      "Truck Dynamics"
      MaskDescription	      "Truck Dynamics"
      MaskHelp		      "Truck dynamics"
      MaskPromptString	      "Initial Conditions (x, y, phi):|Backup Speed:|t"
"ruck Length:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskInitialization      "init_cond = @1; backup_speed = @2; truck_l = @3"
";"
      MaskDisplay	      "plot(-3, -3, 3, 3,[-1 1 1 -1 -1],[-2 -2 2 2 -2]"
",[-1.1 -1.1],[-2 -1],[1.1 1.1],[-2 -1],[1.35 0.85],[1.93 1.07],[-0.85 -1.35],"
"[1.93 1.07])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      MaskValueString	      "TbuInitCond|backup_speed|truck_l"
      System {
	Name			"Truck\nKinematics"
	Location		[338, 438, 876, 621]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		white
	PaperOrientation	landscape
	PaperPositionMode	auto
	PaperType		usletter
	PaperUnits		inches
	Block {
	  BlockType		  Inport
	  Name			  "in"
	  Position		  [20, 33, 40, 57]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [310, 24, 340, 66]
	  Gain			  "-backup_speed"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [310, 80, 340, 120]
	  Gain			  "-backup_speed"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [140, 19, 175, 71]
	  Gain			  "-backup_speed/truck_l"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [440, 110, 465, 160]
	  Inputs		  "3"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "cos"
	  Position		  [245, 29, 295, 61]
	  Expr			  "cos(u[1])"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "phi"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [190, 33, 210, 57]
	  ExternalReset		  none
	  InitialConditionSource  internal
	  InitialCondition	  "init_cond(3)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "sin"
	  Position		  [245, 84, 295, 116]
	  Expr			  "sin(u[1])"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "tan"
	  Position		  [75, 30, 115, 60]
	  Expr			  "tan(u[1])"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [360, 33, 380, 57]
	  ExternalReset		  none
	  InitialConditionSource  internal
	  InitialCondition	  "init_cond(1)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "y"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [360, 88, 380, 112]
	  ExternalReset		  none
	  InitialConditionSource  internal
	  InitialCondition	  "init_cond(2)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out"
	  Position		  [495, 123, 515, 147]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "in"
	  SrcPort		  1
	  DstBlock		  "tan"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "phi"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "cos"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [5, 0; 0, 55]
	    DstBlock		    "sin"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [5, 0; 0, 105]
	    DstBlock		    "Mux1"
	    DstPort		    3
	  }
	}
	Line {
	  SrcBlock		  "cos"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "sin"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "tan"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "phi"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  Points		  [30, 0; 0, 75]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  Points		  [20, 0; 0, 35]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Mux
      Name		      "states &\ntheta"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [450, 90, 480, 130]
      Inputs		      "[3 1]"
    }
    Block {
      BlockType		      Mux
      Name		      "states &\ntheta1"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [230, 270, 260, 310]
      Orientation	      left
      ShowName		      off
      Inputs		      "3"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
    }
    Block {
      BlockType		      Fcn
      Name		      "y<=0"
      Position		      [520, 25, 560, 45]
      Expr		      "u[2]<0"
    }
    Line {
      SrcBlock		      "y<=0"
      SrcPort		      1
      DstBlock		      "Stop\nsimulation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Switch"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, -30]
	DstBlock		"Truck\nKinematics"
	DstPort			1
      }
      Branch {
	Points			[0, -65]
	DstBlock		"states &\ntheta"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Truck\nKinematics"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[50, 0; 0, -55]
	DstBlock		"states &\ntheta"
	DstPort			1
      }
      Branch {
	Points			[50, 0; 0, 70]
	Branch {
	  DstBlock		  "Distance"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 50]
	  Branch {
	    DstBlock		    "Controller 1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Controller 2"
	    DstPort		    1
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "states &\ntheta"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		" Animation &\nHuman Controller"
	DstPort			1
      }
      Branch {
	Points			[0, -75]
	DstBlock		"y<=0"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Fuzzy Logic Controller"
      SrcPort		      1
      Points		      [-65, 0]
      DstBlock		      "Switch"
      DstPort		      1
    }
    Line {
      SrcBlock		      " Animation &\nHuman Controller"
      SrcPort		      1
      Points		      [10, 0; 0, 255; -505, 0]
      DstBlock		      "Switch"
      DstPort		      3
    }
    Line {
      SrcBlock		      "states &\ntheta1"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Distance"
      SrcPort		      1
      Points		      [-40, 0; 0, 50]
      DstBlock		      "states &\ntheta1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controller 1"
      SrcPort		      1
      Points		      [-15, 0; 0, 15]
      DstBlock		      "states &\ntheta1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Controller 2"
      SrcPort		      1
      Points		      [-15, 0; 0, -20]
      DstBlock		      "states &\ntheta1"
      DstPort		      3
    }
  }
}