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📄 pendulum.mdl

📁 模糊控制matlab
💻 MDL
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      Orientation	      "left"
      UpperLimit	      "0.75"
      LowerLimit	      "-0.75"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Gain
      Name		      "k1"
      Position		      [540, 515, 570, 545]
      Orientation	      "left"
      Gain		      "150"
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      BlockType		      Gain
      Name		      "k2"
      Position		      [485, 575, 515, 605]
      Orientation	      "left"
      Gain		      "100"
    }
    Block {
      BlockType		      Gain
      Name		      "k3"
      Position		      [550, 575, 580, 605]
      Orientation	      "left"
      Gain		      "-1"
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      Name		      "kd"
      Position		      [510, 420, 540, 450]
      Orientation	      "left"
      Gain		      "-55"
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      Orientation	      "left"
      Gain		      "0.005"
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      BlockType		      Gain
      Name		      "kec"
      Position		      [435, 575, 465, 605]
      Orientation	      "left"
      Gain		      "0.0075"
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    Block {
      BlockType		      Gain
      Name		      "kp"
      Position		      [510, 375, 540, 405]
      Orientation	      "left"
      Gain		      "-350"
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    Block {
      BlockType		      Gain
      Name		      "ku"
      Position		      [210, 190, 240, 220]
      Gain		      "90"
    }
    Block {
      BlockType		      SubSystem
      Name		      "pendulum"
      Ports		      [1, 4]
      Position		      [395, 132, 490, 288]
      TreatAsAtomicUnit	      off
      MaskType		      "pendulum"
      MaskDescription	      "Inverted Pendulum"
      MaskPromptString	      "Initial Conditions(cart position,cart velocity,"
"angle and angular velocity);"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "Init_cond=@1;"
      MaskInitialization      "\n"
      MaskDisplay	      "plot(-4,-1,4,6,[0 3 2.8 -0.2 0],[1 5 5.15 1.15 "
"1],[-1 -1 1 1 -1],[1 0 0 1 1],[-3.5 3.5],[0 0])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[0, 0, 0.1, 0]"
      System {
	Name			"pendulum"
	Location		[0, 74, 996, 728]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
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	Block {
	  BlockType		  Fcn
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	  Position		  [655, 490, 715, 520]
	  Expr			  "1/u"
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	  BlockType		  Constant
	  Name			  "I"
	  Position		  [295, 555, 325, 585]
	  Value			  "0.0034"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
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	  Position		  [980, 270, 1010, 300]
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	  InitialCondition	  "0.1"
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	  BlockType		  Integrator
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	  Ports			  [1, 1]
	  Position		  [1110, 485, 1140, 515]
	  InitialCondition	  "Init_cond(3)"
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	  BlockType		  Integrator
	  Name			  "Integrator4"
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	  Position		  [900, 269, 930, 301]
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	  Position		  [70, 700, 100, 730]
	  Value			  "1.096"
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	Block {
	  BlockType		  Product
	  Name			  "Product"
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	  Position		  [200, 431, 245, 464]
	  InputSameDT		  off
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	  InputSameDT		  off
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	  InputSameDT		  off
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	Block {
	  BlockType		  Scope
	  Name			  "Scope"
	  Ports			  [1]
	  Position		  [1045, 184, 1075, 216]
	  Location		  [261, 332, 585, 571]
	  Open			  off
	  NumInputPorts		  "1"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  YMin			  "-515"
	  YMax			  "-435"
	  DataFormat		  "StructureWithTime"
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	Block {
	  BlockType		  Scope
	  Name			  "Scope1"
	  Ports			  [1]
	  Position		  [1190, 559, 1220, 591]
	  Location		  [55, 366, 379, 605]
	  Open			  off
	  NumInputPorts		  "1"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
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	  SaveName		  "ScopeData1"
	  DataFormat		  "StructureWithTime"
	}
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	  Position		  [370, 525, 400, 545]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [605, 495, 625, 515]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|-+"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [390, 679, 425, 721]
	  ShowName		  off
	  Inputs		  "|++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	  Ports			  [3, 1]
	  Position		  [430, 259, 460, 331]
	  ShowName		  off
	  Inputs		  "|-++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum4"
	  Ports			  [2, 1]
	  Position		  [485, 62, 525, 118]
	  ShowName		  off
	  Inputs		  "|-+"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	  BlockType		  Sum
	  Name			  "Sum5"
	  Ports			  [2, 1]
	  Position		  [685, 262, 715, 318]
	  ShowName		  off
	  Inputs		  "|-+"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
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	  BlockType		  Sum
	  Name			  "Sum6"
	  Ports			  [2, 1]
	  Position		  [880, 559, 910, 621]
	  ShowName		  off
	  Inputs		  "|-+"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "Trigonometric\nFunction1"
	  Ports			  [1, 1]
	  Position		  [300, 375, 330, 405]
	  Operator		  "cos"
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "Trigonometric\nFunction2"
	  Ports			  [1, 1]
	  Position		  [205, 120, 235, 150]
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	  Position		  [305, 220, 335, 250]
	  Gain			  "0.1"
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	  Name			  "f"
	  Position		  [275, 75, 305, 105]
	  Gain			  "0"
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	Block {
	  BlockType		  Gain
	  Name			  "g"
	  Position		  [305, 155, 335, 185]
	  Gain			  "9.8"
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	Block {
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	  Name			  "l"
	  Position		  [80, 515, 110, 545]
	  Value			  "0.25"
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	Block {
	  BlockType		  Constant
	  Name			  "m"
	  Position		  [80, 425, 110, 455]
	  Value			  "0.109"
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	  Name			  "x1"
	  Position		  [1045, 278, 1075, 292]
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	  BlockType		  Outport
	  Name			  "x2"
	  Position		  [980, 163, 1010, 177]
	  Port			  "2"
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	  Name			  "x3"
	  Position		  [1205, 493, 1235, 507]
	  Port			  "3"
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	Block {
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	  Name			  "x4"
	  Position		  [1185, 388, 1215, 402]
	  Port			  "4"
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	  Points		  [0, 0; 30, 0]
	  Branch {
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	    Branch {

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