robot2_arm.mdl

其中提到遺傳學的程式碼與應用提供給次淚相向的研究者參考下載

      Value		      "1"
      VectorParams1D	      on
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      OutDataType	      "sfix(16)"
      ConRadixGroup	      "Use specified scaling"
      OutScaling	      "2^0"
      SampleTime	      "inf"
    }
    Block {
      BlockType		      DiscreteIntegrator
      IntegratorMethod	      "Integration: Forward Euler"
      gainval		      "1.0"
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      InitialConditionMode    "State and output"
      SampleTime	      "1"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	off
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      IgnoreLimit	      off
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
    }
    Block {
      BlockType		      ElementaryMath
      Operator		      "sin"
    }
    Block {
      BlockType		      From
      IconDisplay	      "Tag"
    }
    Block {
      BlockType		      Fcn
      Expr		      "sin(u[1])"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Goto
      IconDisplay	      "Tag"
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    Block {
      BlockType		      Inport
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
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    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      UniformRandomNumber
      Minimum		      "-1"
      Maximum		      "1"
      Seed		      "0"
      SampleTime	      "-1"
      VectorParams1D	      on
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
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  System {
    Name		    "robot2_arm"
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    ModelBrowserVisibility  off
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    PaperType		    "usletter"
    PaperUnits		    "inches"
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    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [395, 175, 415, 195]
      Decimation	      "10"
    }
    Block {
      BlockType		      DiscreteIntegrator
      Name		      "Discrete-Time\nIntegrator"
      Ports		      [1, 1]
      Position		      [170, 130, 205, 170]
      IntegratorMethod	      "Integration: Backward Euler"
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      SampleTime	      "0.05"
      IgnoreLimit	      off
      ICPrevOutput	      "DiscIntNeverNeededParam"
      ICPrevScaledInput	      "DiscIntNeverNeededParam"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [220, 135, 250, 165]
      Gain		      "Ki"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [295, 135, 325, 165]
      Orientation	      "left"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [80, 210, 110, 240]
      Gain		      "3"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [130, 56, 135, 94]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
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    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [2, 1]
      Position		      [415, 56, 420, 94]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
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    Block {
      BlockType		      SubSystem
      Name		      "Neural Network"
      Ports		      [1, 1]
      Position		      [155, 55, 215, 95]
      BackgroundColor	      "lightBlue"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      Port {
	PortNumber		1
	Name			"Torque"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
      System {
	Name			"Neural Network"
	Location		[158, 100, 658, 401]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "p{1}"
	  Position		  [40, 40, 60, 60]
	  BackgroundColor	  "magenta"
	  Port			  "1"
	  IconDisplay		  "Port number"
	  PortDimensions	  "2"
	  SampleTime		  "0.05"
	  LatchInput		  off
	}
	Block {
	  BlockType		  From
	  Name			  " a{1} "
	  Position		  [40, 120, 60, 140]
	  DialogController	  "Simulink.DDGSource"
	  GotoTag		  "feedback1"
	  MaskDisplay		  "plot(cos(0:.1:2*pi),sin(0:.1:2*pi))"
	  MaskIconFrame		  off
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
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	Block {
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	  Name			  "Layer 1"
	  Ports			  [1, 1]
	  Position		  [190, 40, 250, 60]
	  BackgroundColor	  "lightBlue"
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  System {
	    Name		    "Layer 1"
	    Location		    [118, 83, 618, 384]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "p{1}"
	      Position		      [40, 40, 60, 60]
	      BackgroundColor	      "magenta"
	      Port		      "1"
	      IconDisplay	      "Port number"
	      PortDimensions	      "2"
	      SampleTime	      "0.05"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      SubSystem
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	      Ports		      [1, 1]
	      Position		      [100, 40, 120, 60]
	      BackgroundColor	      "lightBlue"
	      TreatAsAtomicUnit	      off
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      MaskDisplay	      "disp('TDL')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"Delays 1"
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		  Name			  "p{1}"
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		  Orientation		  "down"
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		  NamePlacement		  "alternate"
		  Port			  "1"
		  IconDisplay		  "Port number"
		  PortDimensions	  "2"
		  SampleTime		  "0.05"
		  LatchInput		  off
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		Block {
		  BlockType		  Mux
		  Name			  "mux"
		  Ports			  [1, 1]
		  Position		  [200, 60, 240, 80]
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		Line {
		  SrcBlock		  "mux"
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