📄 vanguardlqg.mdl
字号:
Name "LQG\nCompensator"
Ports [1, 1]
Position [120, 110, 150, 140]
NamePlacement "alternate"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [400, 106, 405, 144]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Gain
Name "Observer-\n Gain, L"
Position [280, 265, 310, 295]
Orientation "left"
NamePlacement "alternate"
Gain "L"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Scope
Name "Pitch \nRate,\nQ"
Ports [1]
Position [300, 15, 330, 45]
Orientation "up"
NamePlacement "alternate"
Location [188, 355, 512, 594]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "Q"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Saturate
Name "Saturation"
Position [365, 88, 380, 112]
ShowName off
UpperLimit "0.01"
LowerLimit "-0.01"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [365, 133, 380, 157]
ShowName off
UpperLimit "0.1"
LowerLimit "-0.1"
}
Block {
BlockType TransferFcn
Name "Servo 2"
Position [315, 132, 350, 158]
Numerator "2750"
Denominator "[1 84 2750]"
}
Block {
BlockType Sum
Name "Sum"
Ports [4, 1]
Position [75, 80, 100, 180]
ShowName off
Inputs "|++--"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [325, 210, 345, 230]
Orientation "down"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "|++"
}
Block {
BlockType StateSpace
Name "Vanguard\n missile"
Position [420, 108, 480, 142]
A "A"
B "B"
C "C"
D "D"
X0 "[0;0;0;0;0.01;0.01]"
}
Block {
BlockType Scope
Name "Yaw\nRate,\nR"
Ports [1]
Position [360, 15, 390, 45]
Orientation "up"
NamePlacement "alternate"
Location [188, 355, 512, 594]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "R"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Gain
Name "[1100]'"
Position [365, 205, 395, 235]
Orientation "left"
Gain "[1;1;0;0]"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Scope
Name "a_y"
Ports [1]
Position [450, 40, 480, 70]
Location [310, 307, 634, 546]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "ay"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Scope
Name "a_z"
Ports [1]
Position [395, 15, 425, 45]
Orientation "up"
Location [310, 307, 634, 546]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "az"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Scope
Name "epsilon"
Ports [1]
Position [220, 15, 250, 45]
Orientation "up"
NamePlacement "alternate"
Location [188, 355, 512, 594]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "epsilon"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Scope
Name "mu"
Ports [1]
Position [373, 170, 397, 190]
Orientation "down"
Location [188, 355, 512, 594]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "mu"
DataFormat "Array"
LimitDataPoints off
}
Line {
SrcBlock "Observer-\n Gain, L"
SrcPort 1
Points [-265, 0; 0, -175]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "LQG\nCompensator"
DstPort 1
}
Line {
SrcBlock "C"
SrcPort 1
DstBlock "L"
DstPort 1
}
Line {
SrcBlock "K"
SrcPort 1
DstBlock "B"
DstPort 1
}
Line {
SrcBlock "L"
SrcPort 1
Points [-110, 0; 0, -75]
DstBlock "Sum"
DstPort 4
}
Line {
SrcBlock "B"
SrcPort 1
Points [0, 15; -165, 0; 0, -115]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "A"
SrcPort 1
Points [0, 70; -225, 0; 0, -145]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 45]
DstBlock "Observer-\n Gain, L"
DstPort 1
}
Line {
SrcBlock "LQG\nCompensator"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "C"
DstPort 1
}
Branch {
Points [40, 0]
Branch {
DstBlock "K"
DstPort 1
}
Branch {
Points [40, 0]
Branch {
DstBlock "-K"
DstPort 1
}
Branch {
DstBlock "A"
DstPort 1
}
}
}
}
Line {
SrcBlock "Band-Limited\nWhite Noise"
SrcPort 1
Points [-15, 0]
Branch {
DstBlock "[1100]'"
DstPort 1
}
Branch {
DstBlock "Disturbance"
DstPort 1
}
}
Line {
SrcBlock "[1100]'"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [0, -15]
DstBlock "Yaw\nRate,\nR"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "a_z"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [0, -20]
DstBlock "a_y"
DstPort 1
}
Line {
SrcBlock "Vanguard\n missile"
SrcPort 1
Points [5, 0]
Branch {
Points [0, -25]
DstBlock "Demux"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "Sum2"
DstPort 1
}
}
Line {
SrcBlock "-K"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
DstBlock " Servo 1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
DstBlock "Servo 2"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Vanguard\n missile"
DstPort 1
}
Line {
SrcBlock " Servo 1"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Servo 2"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [0, 5]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, -20; -150, 0]
DstBlock "epsilon"
DstPort 1
}
}
Line {
SrcBlock "Saturation1"
SrcPort 1
Points [0, -5]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
DstBlock "mu"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, -10; -75, 0]
DstBlock "Pitch \nRate,\nQ"
DstPort 1
}
}
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -