vehicles.mdl

来自「multi uav(多无人机matlab下的仿真)」· MDL 代码 · 共 2,507 行 · 第 1/5 页

MDL
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	}
	Line {
	  Name			  "loadfactor_command"
	  Labels		  [0, 0]
	  SrcBlock		  "Switch1"
	  SrcPort		  1
	  Points		  [0, -110]
	  DstBlock		  "Bus\nCreator"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Instincts"
      Ports		      [1, 1]
      Position		      [340, 190, 490, 250]
      Orientation	      "left"
      BackgroundColor	      "orange"
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      System {
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	Location		[114, 81, 938, 710]
	Open			off
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	ScreenColor		"white"
	PaperOrientation	"landscape"
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	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
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	Block {
	  BlockType		  Inport
	  Name			  "Actual States"
	  Position		  [45, 93, 80, 107]
	  NamePlacement		  "alternate"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  BusCreator
	  Name			  "Bus\nCreator1"
	  Ports			  [3, 1]
	  Position		  [635, 424, 640, 486]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Collabrative Instincts"
	  Ports			  [3, 8]
	  Position		  [185, 159, 405, 331]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "Collabrative Instincts"
	    Location		    [143, 87, 922, 709]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "71"
	    Block {
	      BlockType		      Inport
	      Name		      "States"
	      Position		      [30, 18, 60, 32]
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "avg_velocity_mag"
	      Position		      [30, 58, 60, 72]
	      Port		      "2"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "center_of_mass"
	      Position		      [25, 503, 55, 517]
	      Port		      "3"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "AC avoidance instinct calculations"
	      Ports		      [2, 2]
	      Position		      [345, 14, 595, 101]
	      MinAlgLoopOccurrences   off
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	      FunctionWithSeparateData off
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		Name			"AC avoidance instinct calculations"
		Location		[143, 87, 922, 725]
		Open			off
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		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		TiledPaperMargins	"[0.500000, 0.500000, 0.500000, 0.5000"
"00]"
		TiledPageScale		1
		ShowPageBoundaries	off
		ZoomFactor		"98"
		Block {
		  BlockType		  Inport
		  Name			  "States"
		  Position		  [25, 73, 55, 87]
		  IconDisplay		  "Port number"
		}
		Block {
		  BlockType		  Inport
		  Name			  "avg_velocity_mag"
		  Position		  [95, 298, 125, 312]
		  Port			  "2"
		  IconDisplay		  "Port number"
		}
		Block {
		  BlockType		  Abs
		  Name			  "Abs"
		  Position		  [285, 375, 315, 405]
		  ShowName		  off
		  SaturateOnIntegerOverflow on
		  ZeroCross		  on
		  SampleTime		  "-1"
		}
		Block {
		  BlockType		  Constant
		  Name			  "Constant"
		  Position		  [265, 32, 330, 58]
		  ShowName		  off
		  Value			  "num_ac"
		  VectorParams1D	  on
		  SamplingMode		  "Sample based"
		  OutDataTypeMode	  "Inherit from 'Constant value'"
		  OutDataType		  "sfix(16)"
		  ConRadixGroup		  "Use specified scaling"
		  OutScaling		  "2^0"
		  SampleTime		  "inf"
		  FramePeriod		  "inf"
		}
		Block {
		  BlockType		  Constant
		  Name			  "Constant2"
		  Position		  [30, 427, 205, 453]
		  Value			  "initthis('minimum_ac_dist',num_ac);"
		  VectorParams1D	  on
		  SamplingMode		  "Sample based"
		  OutDataTypeMode	  "Inherit from 'Constant value'"
		  OutDataType		  "sfix(16)"
		  ConRadixGroup		  "Use specified scaling"
		  OutScaling		  "2^0"
		  SampleTime		  "inf"
		  FramePeriod		  "inf"
		}
		Block {
		  BlockType		  SubSystem
		  Name			  "Distance between AC Calculator1"
		  Ports			  [3, 1]
		  Position		  [355, 37, 545, 93]
		  TreatAsAtomicUnit	  on
		  MinAlgLoopOccurrences	  off
		  RTWSystemCode		  "Auto"
		  FunctionWithSeparateData off
		  MaskHideContents	  off
		  System {
		    Name		    "Distance between AC Calculator1"
		    Location		    [172, 80, 1073, 661]
		    Open		    off
		    ModelBrowserVisibility  off
		    ModelBrowserWidth	    200
		    ScreenColor		    "white"
		    PaperOrientation	    "landscape"
		    PaperPositionMode	    "auto"
		    PaperType		    "usletter"
		    PaperUnits		    "inches"
		    TiledPaperMargins	    "[0.500000, 0.500000, 0.500000, 0."
"500000]"
		    TiledPageScale	    1
		    ShowPageBoundaries	    off
		    ZoomFactor		    "99"
		    Block {
		    BlockType		    Inport
		    Name		    "num_ac"
		    Position		    [30, 278, 60, 292]
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "positions"
		    Position		    [130, 123, 160, 137]
		    Port		    "2"
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "initial matrix"
		    Position		    [565, 43, 595, 57]
		    Port		    "3"
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Assignment
		    Name		    "Assignment"
		    Ports		    [4, 1]
		    Position		    [620, 14, 695, 281]
		    InputType		    "Matrix"
		    IndexIsStartValue	    off
		    ElementSrc		    "External"
		    Elements		    "1"
		    RowSrc		    "External"
		    Rows		    "1"
		    ColumnSrc		    "External"
		    Columns		    "1"
		    OutputDimensions	    "[1 1]"
		    }
		    Block {
		    BlockType		    Constant
		    Name		    "Constant"
		    Position		    [510, 230, 590, 260]
		    Value		    "[1:num_ac]"
		    VectorParams1D	    on
		    SamplingMode	    "Sample based"
		    OutDataTypeMode	    "Inherit from 'Constant value'"
		    OutDataType		    "sfix(16)"
		    ConRadixGroup	    "Use specified scaling"
		    OutScaling		    "2^0"
		    SampleTime		    "inf"
		    FramePeriod		    "inf"
		    }
		    Block {
		    BlockType		    ForIterator
		    Name		    "For Iterator"
		    Ports		    [1, 1]
		    Position		    [105, 270, 150, 300]
		    IterationSource	    "external"
		    IterationVariableDataType "double"
		    }
		    Block {
		    BlockType		    SubSystem
		    Name		    "For Iterator\nSubsystem"
		    Ports		    [5, 1]
		    Position		    [325, 43, 535, 107]
		    TreatAsAtomicUnit	    on
		    MinAlgLoopOccurrences   off
		    RTWSystemCode	    "Auto"
		    FunctionWithSeparateData off
		    MaskHideContents	    off
		    System {
		    Name		    "For Iterator\nSubsystem"
		    Location		    [172, 80, 1073, 661]
		    Open		    off
		    ModelBrowserVisibility  off
		    ModelBrowserWidth	    200
		    ScreenColor		    "white"
		    PaperOrientation	    "landscape"
		    PaperPositionMode	    "auto"
		    PaperType		    "usletter"
		    PaperUnits		    "inches"
		    TiledPaperMargins	    "[0.500000, 0.500000, 0.500000, 0."
"500000]"
		    TiledPageScale	    1
		    ShowPageBoundaries	    off
		    ZoomFactor		    "100"
		    Block {
		    BlockType		    Inport
		    Name		    "num_ac"
		    Position		    [30, 278, 60, 292]
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "positions"
		    Position		    [30, 218, 60, 232]
		    Port		    "2"
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "position"
		    Position		    [30, 158, 60, 172]
		    Port		    "3"
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "initial row"
		    Position		    [590, 58, 620, 72]
		    Port		    "4"
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "row"
		    Position		    [340, 248, 370, 262]
		    Port		    "5"
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Assignment
		    Name		    "Assignment"
		    Ports		    [3, 1]
		    Position		    [680, 21, 755, 289]
		    InputType		    "Matrix"
		    IndexIsStartValue	    off
		    ElementSrc		    "External"
		    Elements		    "1"
		    RowSrc		    "Internal"
		    Rows		    "1"
		    ColumnSrc		    "External"
		    Columns		    "1"
		    OutputDimensions	    "[1 1]"
		    }
		    Block {
		    BlockType		    Constant
		    Name		    "Constant"
		    Position		    [495, 85, 525, 115]
		    ShowName		    off
		    Value		    "1e099"
		    VectorParams1D	    on
		    SamplingMode	    "Sample based"
		    OutDataTypeMode	    "Inherit from 'Constant value'"
		    OutDataType		    "sfix(16)"
		    ConRadixGroup	    "Use specified scaling"
		    OutScaling		    "2^0"
		    SampleTime		    "inf"
		    FramePeriod		    "inf"
		    }
		    Block {
		    BlockType		    ForIterator
		    Name		    "For Iterator"
		    Ports		    [1, 1]
		    Position		    [90, 270, 135, 300]
		    IterationSource	    "external"
		    IterationVariableDataType "double"
		    }
		    Block {
		    BlockType		    Math
		    Name		    "Math\nFunction"
		    Ports		    [1, 1]
		    Position		    [320, 150, 350, 180]
		    ShowName		    off
		    Operator		    "magnitude^2"
		    }
		    Block {
		    BlockType		    Math
		    Name		    "Math\nFunction1"
		    Ports		    [1, 1]
		    Position		    [475, 150, 505, 180]
		    ShowName		    off
		    Operator		    "sqrt"
		    }
		    Block {
		    BlockType		    Reference
		    Name		    "Matrix\nSum"
		    Ports		    [1, 1]
		    Position		    [395, 151, 455, 179]
		    ShowName		    off
		    DialogController	    "dspDDGCreate"
		    DialogControllerArgs    "DataTag1"
		    SourceBlock		    "dspmtrx3/Matrix\nSum"
		    SourceType		    "Matrix Sum"
		    Dim			    "Rows"
		    additionalParams	    "off"
		    allowOverrides	    "on"
		    outputMode		    "Same as accumulator"
		    outputWordLength	    "16"
		    outputFracLength	    "15"
		    accumMode		    "Inherit via internal rule"
		    accumWordLength	    "32"
		    accumFracLength	    "30"
		    roundingMode	    "Floor"
		    overflowMode	    "off"
		    LockScale		    "off"
		    }
		    Block {
		    BlockType		    RelationalOperator
		    Name		    "Relational\nOperator"
		    Position		    [400, 207, 430, 238]
		    ShowName		    off
		    Operator		    "=="
		    }
		    Block {
		    BlockType		    Selector
		    Name		    "Selector"
		    Ports		    [2, 1]
		    Position		    [175, 216, 215, 254]
		    InputType		    "Matrix"
		    ElementSrc		    "Internal"
		    Elements		    "[1 3]"
		    RowSrc		    "External"
		    Rows		    "1"
		    ColumnSrc		    "Internal"
		    Columns		    "-1"
		    InputPortWidth	    "3"
		    IndexIsStartValue	    off
		    }
		    Block {
		    BlockType		    Sum
		    Name		    "Sum"
		    Ports		    [2, 1]
		    Position		    [245, 155, 265, 175]
		    ShowName		    off
		    IconShape		    "round"
		    Inputs		    "|-+"
		    }
		    Block {
		    BlockType		    Switch
		    Name		    "Switch1"
		    Position		    [565, 140, 595, 170]
		    Threshold		    ".5"
		    }
		    Block {
		    BlockType		    Outport
		    Name		    "row for one aircraft"
		    Position		    [810, 148, 840, 162]
		    IconDisplay		    "Port number"
		    BusOutputAsStruct	    off
		    }
		    Line {
		    SrcBlock		    "num_ac"
		    SrcPort		    1
		    DstBlock		    "For Iterator"
		    DstPort		    1
		    }
		    Line {
		    SrcBlock		    "For Iterator"
		    SrcPort		    1
		    Points		    [15, 0]
		    Branch {
		    Points		    [0, -40]
		    DstBlock		    "Selector"
		    DstPort		    2
		    }
		    Branch {
		    Points		    [140, 0]
		    Branch {
		    Points		    [0, -70]
		    DstBlock		    "Relational\nOperator"
		    DstPort		    1
		    }
		    Branch {
		    Points		    [370, 0]
		    DstBlock		    "Assignment"
		    DstPort		    3
		    }
		    }
		    }
		    Line {
		    SrcBlock		    "positions"
		    SrcPort		    1
		    DstBlock		    "Selector"
		    DstPort		    1
		    }
		    Line {
		    SrcBlock		    "position"
		    SrcPort		    1
		    DstBlock		    "Sum"
		    DstPort		    1
		    }
		    Line {
		    SrcBlock		    "Selector"
		    SrcPort		    1
		    Points		    [35, 0]
		    DstBlock		    "Sum"
		    DstPort		    2
		    }
		    Line {
		    SrcBlock		    "Sum"
		    SrcPort		    1
		    DstBlock		    "Math\nFunction"
		    DstPort		    1
		    }
		    Line {
		    SrcBlock		    "Math\nFunction"
		    SrcPort		    1
		    DstBlock		    "Matrix\nSum"
		    DstPort		    1
		    }
12345

vehicles.mdl - 源码说明

本页面展示了「multi uav(多无人机matlab下的仿真)」中的 vehicles.mdl 源码文件，采用 MDL 编程语言编写，共 2,507 行代码。您可以在线阅读完整代码内容，也可以返回资源详情页下载完整源码包进行本地学习和开发。

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