📄 btt6dof1good.mdl
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Port {
PortNumber 1
Name "x-y-z-x'-y'-z'"
PropagatedSignals "x, y, z, x', y', z'"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [210, 59, 215, 266]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [515, 113, 550, 137]
ShowName off
VariableName "x"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [515, 183, 550, 207]
ShowName off
VariableName "y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [515, 248, 550, 272]
ShowName off
VariableName "z"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Outport
Name "Out1"
Position [705, 258, 735, 272]
}
Line {
Name "x'"
Labels [0, 0]
SrcBlock "Fcn"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [5, 0; 0, 195]
DstBlock "Mux"
DstPort 4
}
}
Line {
Name "x"
Labels [0, 0]
SrcBlock "Integrator"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
Line {
Name "y"
Labels [0, 0]
SrcBlock "Integrator1"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
Name "y'"
Labels [0, 0]
SrcBlock "Fcn1"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, 195]
DstBlock "Mux"
DstPort 5
}
}
Line {
Name "z'"
Labels [0, 0]
SrcBlock "Fcn2"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator2"
DstPort 1
}
Branch {
Points [0, 195]
DstBlock "Mux"
DstPort 6
}
}
Line {
Name "z"
Labels [0, 0]
SrcBlock "Integrator2"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Mux"
DstPort 3
}
Branch {
DstBlock "To Workspace2"
DstPort 1
}
}
Line {
Name "x-y-z-x'-y'-z'"
Labels [0, 0]
SrcBlock "Mux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "v"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "theta-psic"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [50, 0]
Branch {
Points [0, -65]
DstBlock "Fcn"
DstPort 1
}
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Fcn2"
DstPort 1
}
}
Annotation {
Name "input x0 y0 z0"
Position [361, 285]
}
}
}
Block {
BlockType SubSystem
Name "过载计算模块"
Ports [2, 1]
Position [335, 257, 435, 388]
TreatAsAtomicUnit off
System {
Name "过载计算模块"
Location [2, 82, 1014, 721]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "Fx-y-z"
Position [25, 98, 55, 112]
}
Block {
BlockType Inport
Name "alpha-beta"
Position [25, 148, 55, 162]
Port "2"
}
Block {
BlockType Fcn
Name "Fcn"
Position [195, 40, 255, 70]
Expr "(u(1)*cos(u(5))*cos(u(6))-u(2))/m/g"
Port {
PortNumber 1
Name "nx3"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Fcn
Name "Fcn1"
Position [195, 90, 255, 120]
Expr "(u(1)*sin(u(5))+u(3))/m/g"
Port {
PortNumber 1
Name "ny3"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Fcn
Name "Fcn2"
Position [195, 145, 255, 175]
Expr "(-u(1)*cos(u(5))*sin(u(6))+u(4))/m/g"
Port {
PortNumber 1
Name "nz3"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Fcn
Name "Fcn3"
Position [410, 70, 470, 100]
Expr "-u(1)*sin(u(4))*cos(u(5))+u(2)*cos(u(4)"
")+u(3)*sin(u(4))*sin(u(5))"
Port {
PortNumber 1
Name "ny"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Fcn
Name "Fcn4"
Position [410, 160, 470, 190]
Expr "u(1)*sin(u(5))+u(3)*cos(u(5))"
Port {
PortNumber 1
Name "nz"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [110, 33, 115, 177]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [4, 1]
Position [320, 25, 325, 240]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [530, 38, 535, 222]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "P"
Position [25, 40, 55, 70]
Value "6350"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [415, 15, 475, 45]
Orientation "left"
VariableName "ny"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [410, 215, 470, 245]
Orientation "left"
VariableName "nz"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Outport
Name "ny-nz"
Position [560, 123, 590, 137]
}
Line {
SrcBlock "P"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Fx-y-z"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "alpha-beta"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 60]
DstBlock "Mux1"
DstPort 4
}
Branch {
DstBlock "Mux"
DstPort 3
}
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Fcn"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "Fcn2"
DstPort 1
}
}
Line {
Name "nx3"
Labels [0, 0]
SrcBlock "Fcn"
SrcPort 1
Points [45, 0]
DstBlock "Mux1"
DstPort 1
}
Line {
Name "ny3"
Labels [0, 0]
SrcBlock "Fcn1"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
Name "nz3"
Labels [0, 0]
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
Points [0, -50]
DstBlock "Fcn3"
DstPort 1
}
Branch {
Points [0, 40]
DstBlock "Fcn4"
DstPort 1
}
}
Line {
Name "ny"
Labels [0, 0]
SrcBlock "Fcn3"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
Name "nz"
Labels [0, 0]
SrcBlock "Fcn4"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, 55]
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "ny-nz"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "绕质心转动的运动学方程"
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