📄 btt.mdl
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SrcPort 1
DstBlock "theta&faic"
DstPort 1
}
Line {
SrcBlock "yudong"
SrcPort 5
Points [5, 0; 0, 0]
Branch {
Points [0, 15]
DstBlock "Mux1"
DstPort 2
}
Branch {
DstBlock "T5\n"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "m_xyz&v"
DstPort 1
}
Line {
SrcBlock "质心运动学模型"
SrcPort 6
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Branch {
DstBlock "Mux"
DstPort 6
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Branch {
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DstBlock "T9"
DstPort 1
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SrcPort 5
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DstPort 5
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Branch {
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DstBlock "T10"
DstPort 1
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Line {
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SrcPort 4
Points [0, 0]
Branch {
DstBlock "Mux"
DstPort 4
}
Branch {
Points [0, 10]
DstBlock "T8"
DstPort 1
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Line {
SrcBlock "质心运动学模型"
SrcPort 3
Points [0, 0]
Branch {
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DstBlock "T3"
DstPort 1
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Branch {
DstBlock "Mux"
DstPort 3
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SrcBlock "质心运动学模型"
SrcPort 2
Points [0, 0]
Branch {
Points [0, -5]
DstBlock "T2"
DstPort 1
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Branch {
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DstPort 2
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SrcBlock "质心运动学模型"
SrcPort 1
Points [0, 0]
Branch {
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DstBlock "T1"
DstPort 1
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Branch {
DstBlock "Mux"
DstPort 1
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Line {
SrcBlock "delta_xyz"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [30, 0]
DstBlock "力和力矩模型"
DstPort 7
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [30, 0]
DstBlock "力和力矩模型"
DstPort 6
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [30, 0]
DstBlock "力和力矩模型"
DstPort 5
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Line {
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SrcPort 1
Points [0, 0]
Branch {
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DstBlock "力和力矩模型"
DstPort 2
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Branch {
DstBlock "力和力矩模型"
DstPort 1
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Line {
SrcBlock "几何关系模型"
SrcPort 1
Points [5, 0]
Branch {
Points [0, -10]
Branch {
DstBlock "T7"
DstPort 1
}
Branch {
DstBlock "Mux4"
DstPort 2
}
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Branch {
Points [45, 0; 0, 175]
Branch {
Points [0, 200; -515, 0]
Branch {
Points [-130, 0; 0, -335]
DstBlock "力和力矩模型"
DstPort 3
}
Branch {
Points [0, -105]
DstBlock "yudong"
DstPort 4
}
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Branch {
DstBlock "Scope"
DstPort 1
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Line {
SrcBlock "几何关系模型"
SrcPort 2
Points [0, 0]
Branch {
DstBlock "T6"
DstPort 1
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Branch {
Points [30, 0; 0, 95]
Branch {
Points [0, 185; -480, 0]
Branch {
Points [-135, 0; 0, -300]
DstBlock "力和力矩模型"
DstPort 4
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Branch {
Points [0, -70]
DstBlock "yudong"
DstPort 5
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DstBlock "Scope"
DstPort 2
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Line {
SrcBlock "几何关系模型"
SrcPort 3
Points [0, 180; -435, 0]
DstBlock "yudong"
DstPort 6
}
Line {
SrcBlock "姿态运动学模型"
SrcPort 3
Points [25, 0]
Branch {
Points [0, -145]
DstBlock "Mux4"
DstPort 1
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Branch {
Points [10, 0]
Branch {
DstBlock "几何关系模型"
DstPort 3
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Branch {
Points [0, 105]
DstBlock "Scope"
DstPort 3
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Line {
SrcBlock "姿态运动学模型"
SrcPort 2
DstBlock "几何关系模型"
DstPort 2
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Line {
SrcBlock "姿态运动学模型"
SrcPort 1
DstBlock "几何关系模型"
DstPort 1
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Line {
SrcBlock "姿态动力学模型"
SrcPort 3
Points [0, 0; 30, 0]
Branch {
Points [20, 0]
Branch {
Points [0, -135]
DstBlock "Mux3"
DstPort 3
}
Branch {
DstBlock "姿态运动学模型"
DstPort 3
}
}
Branch {
Points [0, -150; -355, 0; 0, 310]
DstBlock "力和力矩模型"
DstPort 10
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Line {
SrcBlock "姿态动力学模型"
SrcPort 2
Points [0, 0; 20, 0]
Branch {
Points [20, 0]
Branch {
Points [0, -95]
DstBlock "Mux3"
DstPort 2
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Branch {
DstBlock "姿态运动学模型"
DstPort 2
}
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Branch {
Points [0, -95; -335, 0; 0, 275]
DstBlock "力和力矩模型"
DstPort 9
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Line {
SrcBlock "姿态动力学模型"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [25, 0]
Branch {
Points [0, -55]
DstBlock "Mux3"
DstPort 1
}
Branch {
DstBlock "姿态运动学模型"
DstPort 1
}
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Branch {
Points [0, -40; -315, 0; 0, 240]
DstBlock "力和力矩模型"
DstPort 8
}
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Line {
SrcBlock "力和力矩模型"
SrcPort 6
DstBlock "yudong"
DstPort 3
}
Line {
SrcBlock "力和力矩模型"
SrcPort 5
Points [15, 0; 0, 20]
DstBlock "yudong"
DstPort 2
}
Line {
SrcBlock "力和力矩模型"
SrcPort 4
Points [20, 0; 0, 40]
DstBlock "yudong"
DstPort 1
}
Line {
SrcBlock "力和力矩模型"
SrcPort 3
DstBlock "姿态动力学模型"
DstPort 3
}
Line {
SrcBlock "力和力矩模型"
SrcPort 2
DstBlock "姿态动力学模型"
DstPort 2
}
Line {
SrcBlock "力和力矩模型"
SrcPort 1
DstBlock "姿态动力学模型"
DstPort 1
}
Line {
SrcBlock "Mux4"
SrcPort 1
DstBlock "gamma&alpha"
DstPort 1
}
Line {
SrcBlock "yudong"
SrcPort 4
Points [0, 0]
Branch {
DstBlock "T4"
DstPort 1
}
Branch {
Points [0, 20]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "yudong"
SrcPort 3
Points [0, 10; 30, 0]
Branch {
Points [10, 0]
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, 10]
DstBlock "质心运动学模型"
DstPort 3
}
Branch {
Points [0, -110; 225, 0]
DstBlock "几何关系模型"
DstPort 5
}
}
Line {
SrcBlock "yudong"
SrcPort 2
Points [0, 10; 10, 0]
Branch {
Points [0, 5]
DstBlock "Mux2"
DstPort 1
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Branch {
DstBlock "质心运动学模型"
DstPort 2
}
Branch {
Points [0, -90]
DstBlock "几何关系模型"
DstPort 4
}
}
Line {
SrcBlock "yudong"
SrcPort 1
DstBlock "质心运动学模型"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "导引规律模型"
Ports [3, 1]
Position [380, 151, 515, 229]
TreatAsAtomicUnit off
MaskPromptString "导引比 K|时间常数 Tg"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVarAliasString ","
MaskVariables "K=@1;Tg=@2;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "4|0.4"
System {
Name "导引规律模型"
Location [2, 70, 1022, 720]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "135"
Block {
BlockType Inport
Name "sigELV&AZ&dr"
Position [25, 118, 55, 132]
}
Block {
BlockType Inport
Name "gamma&alpha"
Position [35, 368, 65, 382]
Port "2"
}
Block {
BlockType Inport
Name "theta"
Position [185, 53, 215, 67]
Port "3"
}
Block {
BlockType Gain
Name "57.3"
Position [270, 300, 300, 330]
Gain "57.3"
}
Block {
BlockType Abs
Name "Abs"
Position [120, 135, 150, 165]
}
Block {
BlockType Constant
Name "Constant"
Position [395, 356, 420, 374]
Value "-1"
}
Block {
BlockType Constant
Name "Constant1"
Position [280, 391, 305, 409]
Value "0"
}
Block {
BlockType Constant
Name "Constant2"
Position [280, 416, 305, 434]
}
Block {
BlockType Constant
Name "Constant3"
Position [280, 441, 305, 459]
Value "2"
}
Block {
BlockType Constant
Name "Constant5"
Position [455, 321, 480, 339]
Value "-2"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3]
Position [80, 84, 85, 166]
BackgroundColor "black"
ShowName off
Outputs "3"
}
Block {
BlockType Fcn
Name "Fcn"
Position [210, 80, 270, 110]
Expr "K*u[3]*u[2]/g"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [210, 150, 270, 180]
Expr "-K*u[3]*u[1]/g"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [135, 254, 190, 276]
Expr "sqrt(u[1]^2+u[2]^2)"
}
Block {
BlockType Fcn
Name "Fcn3"
Position [135, 304, 190, 326]
Expr "atan(u[2]/(u[1]+eps))"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [170, 84, 175, 166]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [100, 218, 105, 362]
ShowName off
Inputs "2"
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