vehicles.mdl

multi uav(多无人机matlab下的仿真)

	  ShowName		  off
	  OutputSignals		  "Velocity_desired"
	  Port {
	    PortNumber		    1
	    Name		    "<Velocity_desired>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "V, gamma, chi3"
	  Ports			  [1, 2]
	  Position		  [155, 457, 160, 513]
	  ShowName		  off
	  OutputSignals		  "chi,Velocity"
	  Port {
	    PortNumber		    1
	    Name		    "<chi>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "<Velocity>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "V, gamma, chi4"
	  Ports			  [1, 2]
	  Position		  [200, 307, 205, 363]
	  ShowName		  off
	  OutputSignals		  "gamma,Velocity"
	  Port {
	    PortNumber		    1
	    Name		    "<gamma>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "<Velocity>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "V, gamma, chi5"
	  Ports			  [1, 1]
	  Position		  [200, 242, 205, 298]
	  ShowName		  off
	  OutputSignals		  "gamma_desired"
	  Port {
	    PortNumber		    1
	    Name		    "<gamma_desired>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  BusSelector
	  Name			  "V, gamma, chi6"
	  Ports			  [1, 1]
	  Position		  [155, 397, 160, 453]
	  ShowName		  off
	  OutputSignals		  "chi_desired"
	  Port {
	    PortNumber		    1
	    Name		    "<chi_desired>"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "cos_gamma"
	  Ports			  [1, 1]
	  Position		  [355, 305, 385, 335]
	  Operator		  "cos"
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "sin_gamma"
	  Ports			  [1, 1]
	  Position		  [290, 15, 320, 45]
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "sin_gamma1"
	  Ports			  [2, 1]
	  Position		  [640, 417, 670, 448]
	  Operator		  "atan2"
	  Port {
	    PortNumber		    1
	    Name		    "mu_command"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "Commands"
	  Position		  [785, 43, 815, 57]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Actual States"
	  SrcPort		  1
	  Points		  [0, 0; 5, 0]
	  Branch {
	    DstBlock		    "V, gamma, chi1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 265]
	    Branch {
	      Points		      [0, 150]
	      DstBlock		      "V, gamma, chi3"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "V, gamma, chi4"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  Name			  "<loadfactor>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi1"
	  SrcPort		  3
	  DstBlock		  "Subsystem"
	  DstPort		  2
	}
	Line {
	  Name			  "<Velocity>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi1"
	  SrcPort		  2
	  Points		  [0, 0; 65, 0]
	  Branch {
	    DstBlock		    "Sum1"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Subsystem"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Desired States"
	  SrcPort		  1
	  Points		  [5, 0; 20, 0]
	  Branch {
	    DstBlock		    "V, gamma, chi2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 100]
	    Branch {
	      DstBlock		      "V, gamma, chi5"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-35, 0; 0, 155]
	      DstBlock		      "V, gamma, chi6"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  Name			  "<Velocity_desired>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi2"
	  SrcPort		  1
	  Points		  [60, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  Name			  "Drag"
	  Labels		  [0, 0]
	  SrcBlock		  "Subsystem"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [35, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  Name			  "<gamma>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi1"
	  SrcPort		  1
	  Points		  [35, 0; 0, -20]
	  DstBlock		  "sin_gamma"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "sin_gamma"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [55, 0]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  Name			  "Thrust_command\nnolimit"
	  Labels		  [2, 1]
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [35, 0; 0, -55]
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Line {
	  Name			  "<gamma_desired>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi5"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  Name			  "<gamma>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi4"
	  SrcPort		  1
	  Points		  [0, 0; 105, 0]
	  Branch {
	    DstBlock		    "Sum2"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "cos_gamma"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "<chi_desired>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi6"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Line {
	  Name			  "<chi>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi3"
	  SrcPort		  1
	  Points		  [85, 0]
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  1
	}
	Line {
	  Name			  "<Velocity>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi4"
	  SrcPort		  2
	  Points		  [225, 0; 0, -65]
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  DstBlock		  "Sum4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "cos_gamma"
	  SrcPort		  1
	  Points		  [60, 0]
	  Branch {
	    Points		    [135, 0]
	    DstBlock		    "Sum4"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Product1"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "define_as_a"
	  SrcBlock		  "Sum4"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [-15, 0; 0, 160]
	    DstBlock		    "sin_gamma1"
	    DstPort		    2
	  }
	  Branch {
	    Labels		    [1, 0]
	    Points		    [0, 65]
	    DstBlock		    "Subsystem1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  Name			  "define_as_b"
	  Labels		  [0, 0]
	  SrcBlock		  "Product1"
	  SrcPort		  1
	  Points		  [0, 0; 95, 0]
	  Branch {
	    DstBlock		    "sin_gamma1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -60]
	    DstBlock		    "Subsystem1"
	    DstPort		    2
	  }
	}
	Line {
	  Name			  "mu_command"
	  Labels		  [0, 0]
	  SrcBlock		  "sin_gamma1"
	  SrcPort		  1
	  DstBlock		  "Saturation1"
	  DstPort		  1
	}
	Line {
	  Name			  "loadfactor_command\nnolimit"
	  Labels		  [0, 0]
	  SrcBlock		  "Subsystem1"
	  SrcPort		  1
	  Points		  [0, 0; 15, 0]
	  Branch {
	    Labels		    [-1, 1]
	    DstBlock		    "Switch"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [15, 0]
	    DstBlock		    "Relational\nOperator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Bus\nCreator"
	  SrcPort		  1
	  DstBlock		  "Commands"
	  DstPort		  1
	}
	Line {
	  Name			  "Thrust_command"
	  Labels		  [0, 0]
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  DstBlock		  "Bus\nCreator"
	  DstPort		  1
	}
	Line {
	  Name			  "<Velocity>"
	  Labels		  [0, 0]
	  SrcBlock		  "V, gamma, chi3"
	  SrcPort		  2
	  Points		  [0, 0; 240, 0]
	  Branch {
	    Points		    [0, -65]
	    DstBlock		    "Product1"
	    DstPort		    3
	  }
	  Branch {
	    DstBlock		    "Math\nFunction"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "Product1"
	  DstPort		  2
	}
	Line {
	  Name			  "stall_loadfactor_max"
	  Labels		  [0, 0]
	  SrcBlock		  "Gain4"
	  SrcPort		  1
	  Points		  [105, 0; 0, -145]
	  Branch {
	    Points		    [0, 0; 20, 0; 0, -95; -30, 0]
	    DstBlock		    "Switch"
	    DstPort		    3
	  }
	  Branch {
	    DstBlock		    "Relational\nOperator"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Relational\nOperator"
	  SrcPort		  1
	  Points		  [0, -20; -15, 0]
	  DstBlock		  "Switch"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Math\nFunction"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    DstBlock		    "Gain4"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "Gain5"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "mu_command"
	  Labels		  [3, 0]
	  SrcBlock		  "Saturation1"
	  SrcPort		  1
	  Points		  [5, 0; 0, -340; -135, 0; 0, -20]
	  DstBlock		  "Bus\nCreator"
	  DstPort		  3
	}
	Line {
	  Name			  "stall_loadfactor_min"
	  Labels		  [0, 0]
	  SrcBlock		  "Gain5"
	  SrcPort		  1
	  Points		  [170, 0; 0, -425; -85, 0]
	  Branch {
	    Points		    [-70, 0]
	    DstBlock		    "Switch1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 15]
	    DstBlock		    "Relational\nOperator1"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "loadfactor_command"
	  Labels		  [0, 0]
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  Points		  [0, -5]
	  Branch {
	    Points		    [-70, 0]
	    DstBlock		    "Switch1"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [0, -25]
	    DstBlock		    "Relational\nOperator1"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Relational\nOperator1"
	  SrcPort		  1
	  DstBlock		  "Switch1"
	  DstPort		  2