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Port "5"
}
Block {
BlockType Outport
Name "dz"
Position [275, 173, 305, 187]
Port "6"
}
Line {
SrcBlock "Integrator2"
SrcPort 1
DstBlock "z"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "y"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "x"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -30]
DstBlock "dz"
DstPort 1
}
Branch {
DstBlock "Integrator2"
DstPort 1
}
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -30]
DstBlock "dy"
DstPort 1
}
Branch {
DstBlock "Integrator1"
DstPort 1
}
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -40]
DstBlock "dx"
DstPort 1
}
Branch {
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 50]
DstBlock "Fcn2"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Fcn"
DstPort 1
}
Branch {
DstBlock "Fcn1"
DstPort 1
}
}
Line {
SrcBlock "faic"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "theta"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "v"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "姿态动力学模型"
Ports [3, 3]
Position [300, 66, 385, 214]
TreatAsAtomicUnit off
MaskPromptString "转动惯量 Jx|转动惯量 Jy|转动惯量 Jz"
MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
MaskVarAliasString ",,"
MaskVariables "Jx=@1;Jy=@2;Jz=@3;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "56.7|3996|3983"
System {
Name "姿态动力学模型"
Location [2, 70, 1022, 720]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "218"
Block {
BlockType Inport
Name "Mx"
Position [70, 38, 100, 52]
}
Block {
BlockType Inport
Name "My"
Position [70, 78, 100, 92]
Port "2"
}
Block {
BlockType Inport
Name "Mz"
Position [70, 118, 100, 132]
Port "3"
}
Block {
BlockType Fcn
Name "Fcn"
Position [205, 65, 265, 95]
Expr "(u(1)-(Jz-Jy)*u(5)*u(6))/Jx"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [200, 130, 260, 160]
Expr "(u(2)-(Jx-Jz)*u(6)*u(4))/Jy"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [205, 190, 265, 220]
Expr "(u(3)-(Jy-Jx)*u(4)*u(5))/Jz"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [315, 65, 345, 95]
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [315, 130, 345, 160]
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [315, 190, 345, 220]
}
Block {
BlockType Mux
Name "Mux"
Ports [6, 1]
Position [140, 29, 145, 261]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "wx"
Position [410, 73, 440, 87]
}
Block {
BlockType Outport
Name "wy"
Position [415, 138, 445, 152]
Port "2"
}
Block {
BlockType Outport
Name "wz"
Position [415, 198, 445, 212]
Port "3"
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 65; -255, 0; 0, -25]
DstBlock "Mux"
DstPort 6
}
Branch {
DstBlock "wz"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 135; -295, 0; 0, -75]
DstBlock "Mux"
DstPort 5
}
Branch {
DstBlock "wy"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [35, 0]
Branch {
Points [0, 210; -335, 0; 0, -125]
DstBlock "Mux"
DstPort 4
}
Branch {
DstBlock "wx"
DstPort 1
}
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "Fcn"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 60]
DstBlock "Fcn2"
DstPort 1
}
Branch {
Points [0, -65]
DstBlock "Fcn"
DstPort 1
}
Branch {
DstBlock "Fcn1"
DstPort 1
}
}
Line {
SrcBlock "Mz"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "My"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mx"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "姿态运动学模型"
Ports [3, 3]
Position [480, 64, 560, 216]
TreatAsAtomicUnit off
System {
Name "姿态运动学模型"
Location [2, 70, 1022, 720]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "211"
Block {
BlockType Inport
Name "wx"
Position [55, 53, 85, 67]
}
Block {
BlockType Inport
Name "wy"
Position [55, 98, 85, 112]
Port "2"
}
Block {
BlockType Inport
Name "wz"
Position [55, 143, 85, 157]
Port "3"
}
Block {
BlockType Fcn
Name "Fcn"
Position [210, 75, 270, 105]
Expr "u(2)*sin(u(5))+u(3)*cos(u(5))"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [205, 135, 265, 165]
Expr "(u(2)*cos(u(5))-u(3)*sin(u(5)))/cos"
"(u(4))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [210, 210, 270, 240]
Expr "u(1)-tan(u(4))*(u(2)*cos(u(4))-u(3)"
"*sin(u(5)))"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [320, 75, 350, 105]
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [320, 135, 350, 165]
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [320, 210, 350, 240]
}
Block {
BlockType Mux
Name "Mux"
Ports [5, 1]
Position [140, 42, 145, 258]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [400, 247, 450, 273]
VariableName "gamma"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Outport
Name "kesai"
Position [400, 83, 430, 97]
}
Block {
BlockType Outport
Name "bosai"
Position [400, 143, 430, 157]
Port "2"
}
Block {
BlockType Outport
Name "gamma"
Position [405, 218, 435, 232]
Port "3"
}
Line {
SrcBlock "wz"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "wy"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "wx"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [10, 0]
Branch {
Points [0, 50; -260, 0; 0, -35]
DstBlock "Mux"
DstPort 5
}
Branch {
Points [20, 0]
Branch {
DstBlock "gamma"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 195; -290, 0; 0, -90]
DstBlock "Mux"
DstPort 4
}
Branch {
DstBlock "kesai"
DstPort 1
}
}
Line {
SrcBlock "Fcn"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "bosai"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 75]
DstBlock "Fcn2"
DstPort 1
}
Branch {
Points [0, -60]
DstBlock "Fcn"
DstPort 1
}
Branch {
DstBlock "Fcn1"
DstPort 1
}
}
}
}
Block {
BlockType Outport
Name "w_xyz"
Position [545, 38, 575, 52]
}
Block {
BlockType Outport
Name "m_xyz&v"
Position [620, 323, 650, 337]
Port "2"
}
Block {
BlockType Outport
Name "theta&faic"
Position [435, 343, 465, 357]
Port "3"
}
Block {
BlockType Outport
Name "n_yz"
Position [465, 418, 495, 432]
Port "4"
}
Block {
BlockType Outport
Name "gamma&alpha"
Position [750, 53, 780, 67]
Port "5"
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "n_yz"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "w_xyz"
DstPort 1
}
Line {
SrcBlock "Mux2"
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