sltbu.mdl

交流 模糊控制 交流 模糊控制

	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "in"
	  Position		  [20, 33, 40, 57]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [310, 24, 340, 66]
	  Gain			  "-backup_speed"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [310, 80, 340, 120]
	  Gain			  "-backup_speed"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [140, 19, 175, 71]
	  Gain			  "-backup_speed/truck_l"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [3, 1]
	  Position		  [440, 110, 465, 160]
	  Inputs		  "3"
	  DisplayOption		  "none"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "cos"
	  Position		  [245, 29, 295, 61]
	  Expr			  "cos(u[1])"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "phi"
	  Ports			  [1, 1]
	  Position		  [190, 33, 210, 57]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(3)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "sin"
	  Position		  [245, 84, 295, 116]
	  Expr			  "sin(u[1])"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "tan"
	  Position		  [75, 30, 115, 60]
	  Expr			  "tan(u[1])"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x"
	  Ports			  [1, 1]
	  Position		  [360, 33, 380, 57]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(1)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "y"
	  Ports			  [1, 1]
	  Position		  [360, 88, 380, 112]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(2)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out"
	  Position		  [495, 123, 515, 147]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
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	  SrcPort		  1
	  DstBlock		  "tan"
	  DstPort		  1
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	Line {
	  SrcBlock		  "phi"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "cos"
	    DstPort		    1
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	  Branch {
	    Points		    [5, 0; 0, 55]
	    DstBlock		    "sin"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [5, 0; 0, 105]
	    DstBlock		    "Mux1"
	    DstPort		    3
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	Line {
	  SrcBlock		  "cos"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "sin"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "tan"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "phi"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  Points		  [30, 0; 0, 75]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  Points		  [20, 0; 0, 35]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Mux
      Name		      "states &\ntheta"
      Ports		      [2, 1]
      Position		      [450, 90, 480, 130]
      Inputs		      "[3 1]"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Mux
      Name		      "states &\ntheta1"
      Ports		      [3, 1]
      Position		      [230, 270, 260, 310]
      Orientation	      "left"
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "none"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Fcn
      Name		      "y<=0"
      Position		      [520, 25, 560, 45]
      Expr		      "u[2]<0"
    }
    Line {
      SrcBlock		      "y<=0"
      SrcPort		      1
      DstBlock		      "Stop\nsimulation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Switch"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, -30]
	DstBlock		"Truck\nKinematics"
	DstPort			1
      }
      Branch {
	Points			[0, -65]
	DstBlock		"states &\ntheta"
	DstPort			2
      }
    }
    Line {
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      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[50, 0; 0, -55]
	DstBlock		"states &\ntheta"
	DstPort			1
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      Branch {
	Points			[50, 0; 0, 70]
	Branch {
	  DstBlock		  "Distance"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 50]
	  Branch {
	    DstBlock		    "Controller 1"
	    DstPort		    1
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	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Controller 2"
	    DstPort		    1
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "states &\ntheta"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		" Animation &\nHuman Controller"
	DstPort			1
      }
      Branch {
	Points			[0, -75]
	DstBlock		"y<=0"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Fuzzy Logic\nController"
      SrcPort		      1
      Points		      [-55, 0]
      DstBlock		      "Switch"
      DstPort		      1
    }
    Line {
      SrcBlock		      " Animation &\nHuman Controller"
      SrcPort		      1
      Points		      [10, 0; 0, 255; -505, 0]
      DstBlock		      "Switch"
      DstPort		      3
    }
    Line {
      SrcBlock		      "states &\ntheta1"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic\nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Distance"
      SrcPort		      1
      Points		      [-40, 0; 0, 50]
      DstBlock		      "states &\ntheta1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controller 1"
      SrcPort		      1
      Points		      [-15, 0; 0, 15]
      DstBlock		      "states &\ntheta1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Controller 2"
      SrcPort		      1
      Points		      [-15, 0; 0, -20]
      DstBlock		      "states &\ntheta1"
      DstPort		      3
    }
  }
}