📄 auto_cruise.mdl
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}
Line {
SrcBlock "Arow"
SrcPort 1
Points [-25, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Arow"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "1/m"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "1/m"
DstPort 1
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -12]
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, 35; -15, 0]
Branch {
Points [-130, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, 60]
DstBlock "force"
DstPort 1
}
}
}
Line {
SrcBlock "1/Tau"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "1/Tau"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Out1"
DstPort 1
}
Branch {
Points [0, 50; -60, 0]
Branch {
DstBlock "Product"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Product"
DstPort 2
}
}
}
Annotation {
Position [224, 31]
Text "f"
}
Annotation {
Position [426, 28]
Text "v"
}
}
}
Block {
BlockType Saturate
Name "Saturation"
Position [130, 35, 160, 65]
UpperLimit "1000"
LowerLimit "-1000"
LinearizeAsGain on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [325, 40, 345, 60]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [75, 31, 110, 69]
SampleTime "0.01"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [365, 31, 400, 69]
SampleTime "0.01"
}
Block {
BlockType Outport
Name "v"
Position [435, 43, 465, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "force"
Position [435, 108, 465, 122]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "v"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "disturbance"
SrcPort 1
Points [280, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Cruise dynamic\nSubsystem"
SrcPort 1
Points [0, 10]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Cruise dynamic\nSubsystem"
DstPort 1
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Cruise dynamic\nSubsystem"
SrcPort 2
Points [0, 55]
DstBlock "force"
DstPort 1
}
}
}
Block {
BlockType Constant
Name "Disturbance\nConstant"
Position [55, 115, 85, 145]
Value "0"
VectorParams1D on
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [335, 50, 365, 80]
Floating off
Location [15, 378, 244, 550]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "6"
YMax "14"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [335, 105, 365, 135]
Floating off
Location [280, 385, 509, 557]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "0"
YMax "600"
SaveToWorkspace off
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [220, 15, 250, 45]
Floating off
Location [14, 151, 243, 323]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "0"
YMax "600"
SaveToWorkspace off
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [65, 35, 90, 65]
Time "10"
Before "0"
After "500"
SampleTime "Ts"
VectorParams1D on
}
Line {
SrcBlock "Step"
SrcPort 1
Points [50, 0]
Branch {
Points [25, 0]
DstBlock "Automobile cruise\ncontrol Subsystem"
DstPort 1
}
Branch {
Points [0, -20]
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Disturbance\nConstant"
SrcPort 1
Points [80, 0]
DstBlock "Automobile cruise\ncontrol Subsystem"
DstPort 2
}
Line {
SrcBlock "Automobile cruise\ncontrol Subsystem"
SrcPort 1
Points [45, 0; 0, -15]
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Automobile cruise\ncontrol Subsystem"
SrcPort 2
Points [0, 15]
DstBlock "Scope1"
DstPort 1
}
Annotation {
Position [91, 9]
Text "auto_cruise.mdl"
}
}
}
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