📄 kalmanlti.mdl
字号:
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ParamMin "[]"
ParamMax "[]"
ParameterDataTypeMode "Same as input"
ParameterDataType "fixdt(1,16,0)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "[]"
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Same as input"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Inport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
OutMin "[]"
OutMax "[]"
DataType "auto"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
SignalType "auto"
SamplingMode "auto"
LatchByDelayingOutsideSignal off
LatchByCopyingInsideSignal off
Interpolate on
}
Block {
BlockType Outport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
OutMin "[]"
OutMax "[]"
DataType "auto"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType RandomNumber
Mean "0"
Variance "1"
Seed "0"
SampleTime "-1"
VectorParams1D on
}
Block {
BlockType SubSystem
ShowPortLabels "FromPortIcon"
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
TreatAsAtomicUnit off
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
CollapseMode "All dimensions"
CollapseDim "1"
InputSameDT on
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Same as first input"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
UseDisplayTextAsClickCallback off
}
LineDefaults {
FontName "Arial"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "KalmanLTI"
Location [243, 281, 904, 855]
Open on
ModelBrowserVisibility on
ModelBrowserWidth 167
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Inport
Name "In1"
Position [30, 63, 60, 77]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType SubSystem
Name "Kalman Filter"
Ports [2, 2]
Position [195, 161, 270, 219]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskDescription "Linear Random Process\nx(k+1)=Ax(k)+Bu(k)+w\ny(k)=Cx(k)+Du(k)+v\nw~N(0,Q)\nw~N(0,R)"
MaskPromptString "x0|A|B|C|D|K"
MaskStyleString "edit,edit,edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on,on,on"
MaskCallbackString "|||||"
MaskEnableString "on,on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on,on"
MaskToolTipString "on,on,on,on,on,on"
MaskVarAliasString ",,,,,"
MaskVariables "x0=@1;A=@2;B=@3;C=@4;D=@5;K=@6;"
MaskDisplay "disp(sprintf('Kalman\\n Filter'))\nport_label('output',2,'y')\nport_label('output',1,'x')\nport_label('input',1,'y')\nport_label('input',2,'u')\n\n\n\n"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "x1|A1|B1|C1|D1|K"
MaskTabNameString ",,,,,"
System {
Name "Kalman Filter"
Location [1208, 294, 1869, 868]
Open off
ModelBrowserVisibility on
ModelBrowserWidth 167
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "yr"
Position [35, 88, 65, 102]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "u"
Position [35, 48, 65, 62]
Port "2"
IconDisplay "Port number"
PortDimensions "size(B,2)"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Gain
Name "Filter Gain"
Position [175, 80, 205, 110]
Gain "K"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [115, 85, 135, 105]
ShowName off
IconShape "round"
Inputs "|+-"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType SubSystem
Name "filter model"
Ports [2, 2]
Position [245, 35, 360, 115]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
System {
Name "filter model"
Location [243, 280, 768, 555]
Open off
ModelBrowserVisibility on
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [25, 113, 55, 127]
IconDisplay "Port number"
PortDimensions "size(B,2)"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "k*e"
Position [345, 233, 375, 247]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Gain
Name "A"
Position [290, 24, 330, 66]
Orientation "left"
Gain "A"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "B"
Position [160, 99, 200, 141]
Gain "B"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "C"
Position [255, 164, 295, 206]
Orientation "left"
Gain "C"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "D"
Position [125, 164, 165, 206]
Gain "D"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [255, 110, 275, 130]
ShowName off
IconShape "round"
Inputs "++|"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [200, 175, 220, 195]
Orientation "down"
ShowName off
IconShape "round"
Inputs "+|+"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [400, 110, 420, 130]
ShowName off
IconShape "round"
Inputs "|++"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [370, 28, 405, 62]
Orientation "left"
X0 "x0"
}
Block {
BlockType Outport
Name "x"
Position [470, 113, 500, 127]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "y1"
Position [265, 233, 295, 247]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "u"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "B"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "D"
DstPort 1
}
}
Line {
SrcBlock "B"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "A"
SrcPort 1
Points [-20, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
DstBlock "A"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [50, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "C"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "x"
DstPort 1
}
Branch {
Points [0, -75]
DstBlock "Unit Delay"
DstPort 1
}
}
Line {
SrcBlock "D"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "C"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "k*e"
⌨️ 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 + -