📄 sltbu.mdl
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Model {
Name "sltbu"
Version 4.00
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines on
ShowLineDimensions off
ShowPortDataTypes off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovNameIncrementing off
CovHtmlReporting on
BlockParametersDataTip on
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
PreLoadFcn "inittbu;"
CloseFcn "[winName] = get_param(0, 'CurrentSystem'); AnimFigT"
"itle = [winName, ': Truck Backer-Upper Animation']; AnimFigH = findobj(0,'Nam"
"e',AnimFigTitle); close(AnimFigH)"
Created "Fri Jun 02 17:10:15 2000"
Creator "pascal"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "pascal"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Wed Aug 09 17:56:38 2000"
ModelVersionFormat "1.%<AutoIncrement:3>"
ConfigurationManager "none"
DefaultBlockFontName "Helvetica"
DefaultBlockFontSize 10
DefaultBlockFontWeight "normal"
DefaultBlockFontAngle "normal"
DefaultAnnotationFontName "Helvetica"
DefaultAnnotationFontSize 10
DefaultAnnotationFontWeight "normal"
DefaultAnnotationFontAngle "normal"
DefaultLineFontName "Helvetica"
DefaultLineFontSize 9
DefaultLineFontWeight "normal"
DefaultLineFontAngle "normal"
SimParamPage "Solver"
StartTime "0.0"
StopTime "999999"
SolverMode "SingleTasking"
Solver "ode3"
RelTol "1e-3"
AbsTol "1e-6"
Refine "1"
MaxStep "0.1"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "0.1"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
LimitDataPoints off
MaxDataPoints "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
SingleTaskRateTransMsg "none"
MultiTaskRateTransMsg "error"
IntegerOverflowMsg "warning"
CheckForMatrixSingularity "none"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
LinearizationMsg "none"
VectorMatrixConversionMsg "none"
SfunCompatibilityCheckMsg "none"
BlockPriorityViolationMsg "warning"
ArrayBoundsChecking "none"
ConsistencyChecking "none"
ZeroCross on
Profile off
SimulationMode "normal"
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_vc.tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
TLCProfiler off
TLCDebug off
TLCCoverage off
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
ExtModeLogAll on
OptimizeBlockIOStorage on
BufferReuse on
ParameterPooling on
BlockReductionOpt off
BooleanDataType off
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "sltbu"
Location [295, 129, 985, 584]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType "S-Function"
Name " Animation &\nHuman Controller"
Ports [1, 1]
Position [520, 95, 585, 125]
FunctionName "animtbu"
PortCounts "[]"
SFunctionModules "''"
}
Block {
BlockType Constant
Name "Constant"
Position [75, 390, 95, 410]
Orientation "up"
Value "1"
VectorParams1D on
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType MATLABFcn
Name "Controller 1"
Position [320, 260, 375, 290]
Orientation "left"
MATLABFcn "ctrltbu1"
OutputDimensions "1"
OutputSignalType "auto"
Output1D on
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType MATLABFcn
Name "Controller 2"
Position [320, 310, 375, 340]
Orientation "left"
MATLABFcn "ctrltbu2"
OutputDimensions "1"
OutputSignalType "auto"
Output1D on
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Fcn
Name "Distance"
Position [335, 210, 370, 240]
Orientation "left"
Expr "sqrt(u[1]^2+u[2]^2)"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType SubSystem
Name "Double click\non this for demo.5"
Ports []
Position [500, 377, 641, 410]
DropShadow on
ShowName off
OpenFcn "inittbu"
ShowPortLabels off
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
MaskDisplay "disp('Variable Initialization')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Double click\non this for demo.5"
Location [-10, 380, 117, 533]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Block {
BlockType Reference
Name "Fuzzy Logic\nController"
Ports [1, 1]
Position [135, 265, 195, 315]
Orientation "left"
FontName "Arial"
SourceBlock "fuzblock/Fuzzy Logic \nController"
SourceType "FIS"
fis "fismat"
}
Block {
BlockType Stop
Name "Stop\nsimulation"
Position [595, 19, 630, 51]
}
Block {
BlockType Switch
Name "Switch"
Position [69, 190, 101, 215]
Orientation "up"
Threshold "0"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType SubSystem
Name "Truck\nKinematics"
Ports [1, 1]
Position [290, 131, 340, 179]
ShowPortLabels off
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
MaskType "Truck Dynamics"
MaskDescription "Truck Dynamics"
MaskHelp "Truck dynamics"
MaskPromptString "Initial Conditions (x, y, phi):|Backup Speed:|t"
"ruck Length:"
MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
MaskInitialization "init_cond = @1; backup_speed = @2; truck_l = @3"
";"
MaskDisplay "plot(-3, -3, 3, 3,[-1 1 1 -1 -1],[-2 -2 2 2 -2]"
",[-1.1 -1.1],[-2 -1],[1.1 1.1],[-2 -1],[1.35 0.85],[1.93 1.07],[-0.85 -1.35],"
"[1.93 1.07])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "TbuInitCond|backup_speed|truck_l"
System {
Name "Truck\nKinematics"
Location [338, 438, 876, 621]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
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