📄 btt6dof1good.mdl
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Block {
BlockType Inport
Name "theta-psic"
Position [190, 118, 220, 132]
Port {
PortNumber 1
Name "v-theta-psic"
PropagatedSignals "theta, psic"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Inport
Name "psi-ktheta-gamma"
Position [190, 173, 220, 187]
Port "2"
}
Block {
BlockType Trigonometry
Name "\n\n"
Ports [1, 1]
Position [550, 195, 580, 225]
Operator "asin"
Port {
PortNumber 1
Name "beta"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Trigonometry
Name " "
Ports [1, 1]
Position [550, 135, 580, 165]
Operator "asin"
Port {
PortNumber 1
Name "alpha"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Trigonometry
Name " \n\n\n"
Ports [1, 1]
Position [550, 250, 580, 280]
Operator "asin"
Port {
PortNumber 1
Name "gammac"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Fcn
Name "Fcn"
Position [405, 195, 465, 225]
Expr "cos(u(1))*(cos(u(5))*sin(u(3)-u(2))+sin"
"(u(4))*sin(u(5))*cos(u(3)-u(2)))-sin(u(1))*cos(u(4))*sin(u(5))"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [405, 135, 465, 165]
Expr "(cos(u(1))*(sin(u(4))*cos(u(5))*cos(u(3"
")-u(2))-sin(u(5))*sin(u(3)-u(2)))-sin(u(1))*cos(u(4))*cos(u(5)))/cos(u(7))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [405, 250, 465, 280]
Expr "(cos(u(6))*cos(u(7))*sin(u(4))-sin(u(6)"
")*sin(u(7))*cos(u(4))*cos(u(4))+cos(u(7))*sin(u(5))*cos(u(4)))/cos(u(7))"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [335, 96, 340, 319]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [725, 121, 730, 239]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [525, 320, 585, 350]
Orientation "left"
VariableName "alpha"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [525, 425, 585, 455]
Orientation "left"
VariableName "beta"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Outport
Name "alpha-beta"
Position [840, 173, 870, 187]
}
Block {
BlockType Outport
Name "gammac"
Position [840, 258, 870, 272]
Port "2"
}
Line {
Name "beta"
Labels [0, 0]
SrcBlock "\n\n"
SrcPort 1
Points [75, 0]
Branch {
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [0, 230]
Branch {
Points [0, 30; -480, 0; 0, -180]
DstBlock "Mux"
DstPort 4
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -60]
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "Fcn2"
DstPort 1
}
Branch {
DstBlock "Fcn"
DstPort 1
}
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock " \n\n\n"
DstPort 1
}
Line {
Name "gammac"
Labels [0, 0]
SrcBlock " \n\n\n"
SrcPort 1
DstBlock "gammac"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "alpha-beta"
DstPort 1
}
Line {
SrcBlock "Fcn"
SrcPort 1
DstBlock "\n\n"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
Name "alpha"
Labels [0, 0]
SrcBlock " "
SrcPort 1
Points [50, 0]
Branch {
DstBlock "Mux1"
DstPort 1
}
Branch {
Points [0, 185]
Branch {
Points [0, 55; -390, 0; 0, -155]
DstBlock "Mux"
DstPort 3
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
}
Line {
Name "v-theta-psic"
SrcBlock "theta-psic"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "psi-ktheta-gamma"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
}
}
Block {
BlockType SubSystem
Name "Subsystem2"
Ports [4, 2]
Position [120, 160, 195, 450]
TreatAsAtomicUnit off
System {
Name "Subsystem2"
Location [-37, 82, 975, 721]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "alpha-beta"
Position [125, 88, 155, 102]
}
Block {
BlockType Inport
Name "deltax-y-z"
Position [130, 168, 160, 182]
Port "2"
}
Block {
BlockType Inport
Name "omigax-y-z"
Position [130, 248, 160, 262]
Port "3"
}
Block {
BlockType Inport
Name "v"
Position [130, 328, 160, 342]
Port "4"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [235, 57, 240, 373]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [3, 1]
Position [625, 61, 630, 209]
ShowName off
Inputs "3"
DisplayOption "bar"
Port {
PortNumber 1
Name "Mx-My-Mz"
PropagatedSignals ", , "
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Mux
Name "Mux2"
Ports [3, 1]
Position [625, 229, 630, 361]
ShowName off
Inputs "3"
DisplayOption "bar"
Port {
PortNumber 1
Name "Fx-Fy-Fz"
PropagatedSignals ", , "
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Fcn
Name "fx"
Position [410, 235, 470, 265]
Expr "cx_0*s*p*u(9)^2/2"
}
Block {
BlockType Fcn
Name "fy"
Position [410, 280, 470, 310]
Expr "57.3*(cya*u(1)+cydz*u(5))*s*p*u(9)^2/2"
}
Block {
BlockType Fcn
Name "fz"
Position [410, 325, 470, 355]
Expr "57.3*(czb*u(2)+czdy*u(4))*s*p*u(9)^2/2"
}
Block {
BlockType Fcn
Name "mx"
Position [410, 70, 470, 100]
Expr "(57.3*mxdx*u(3)+mxwx*u(6)*l/2/u(9))*s*l"
"*p*u(9)^2/2"
}
Block {
BlockType Fcn
Name "my"
Position [410, 120, 470, 150]
Expr "(57.3*myb*u(2)+mywy*u(7)*l/2/u(9)+57.3*"
"mydy*u(4))*s*l*p*u(9)^2/2"
}
Block {
BlockType Fcn
Name "mz"
Position [410, 170, 470, 200]
Expr "(57.3*mza*u(1)+mzwz*u(8)*l/2/u(9)+57.3*"
"mzdz*u(5))*s*l*p*u(9)^2/2"
}
Block {
BlockType Outport
Name "Fx-Fy-Fz"
Position [710, 288, 740, 302]
}
Block {
BlockType Outport
Name "Mx-My-Mz"
Position [710, 128, 740, 142]
Port "2"
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -30]
Branch {
Points [0, 0; 0, -50]
Branch {
Points [0, -50]
DstBlock "mx"
DstPort 1
}
Branch {
DstBlock "my"
DstPort 1
}
}
Branch {
DstBlock "mz"
DstPort 1
}
}
Branch {
Points [0, 35]
Branch {
DstBlock "fx"
DstPort 1
}
Branch {
Points [0, 0; 0, 45]
Branch {
Points [0, 45]
DstBlock "fz"
DstPort 1
}
Branch {
DstBlock "fy"
DstPort 1
}
}
}
}
Line {
SrcBlock "mx"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "my"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "mz"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "fz"
SrcPort 1
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "fx"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "fy"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
Name "Mx-My-Mz"
Labels [0, 0]
SrcBlock "Mux1"
SrcPort 1
DstBlock "Mx-My-Mz"
DstPort 1
}
Line {
Name "Fx-Fy-Fz"
Labels [0, 0]
SrcBlock "Mux2"
SrcPort 1
DstBlock "Fx-Fy-Fz"
DstPort 1
}
Line {
SrcBlock "alpha-beta"
SrcPort 1
DstBlock "Mux"
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