📄 fangzhen001.mdl
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IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType ToWorkspace
VariableName "simulink_output"
MaxDataPoints "1000"
Decimation "1"
SampleTime "0"
FixptAsFi off
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Arial"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "fangzhen001"
Location [0, 74, 1012, 744]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Clock
Name "Clock"
Position [600, 80, 620, 100]
Decimation "10"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 4]
Position [625, 173, 630, 287]
BackgroundColor "black"
ShowName off
}
Block {
BlockType Gain
Name "Gain"
Position [790, 505, 820, 535]
Gain "1/T"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain1"
Position [425, 345, 455, 375]
Orientation "left"
NamePlacement "alternate"
Gain "K"
Multiplication "Matrix(K*u) (u vector)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain2"
Position [750, 230, 780, 260]
Gain "180/pi"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
Position [820, 390, 850, 420]
Gain "1/T"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [410, 104, 440, 136]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [2]
Position [935, 436, 965, 469]
Floating off
Location [178, 181, 502, 420]
Open off
NumInputPorts "2"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
MaxDataPoints "1000"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [2]
Position [860, 221, 890, 254]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "2"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType StateSpace
Name "State-Space"
Position [410, 213, 470, 247]
A "A"
B "B"
C "eye(4)"
D "[0;0;0;0]"
}
Block {
BlockType Step
Name "Step"
Position [85, 215, 115, 245]
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [270, 220, 290, 240]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [775, 395, 795, 415]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [745, 510, 765, 530]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [225, 105, 285, 135]
Orientation "left"
VariableName "force"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [930, 170, 990, 200]
VariableName "position"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [850, 300, 910, 330]
VariableName "angle"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [700, 75, 760, 105]
VariableName "time "
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [740, 433, 775, 467]
SampleTime "T"
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [705, 548, 740, 582]
SampleTime "T"
}
Block {
BlockType Scope
Name "feedbackforce"
Ports [1]
Position [340, 444, 370, 476]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [60, 0]
Branch {
DstBlock "State-Space"
DstPort 1
}
Branch {
Points [0, -110]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
}
Line {
SrcBlock "State-Space"
SrcPort 1
Points [65, 0]
Branch {
Points [0, 130]
DstBlock "Gain1"
DstPort 1
}
Branch {
DstBlock "Demux"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-140, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, 100]
DstBlock "feedbackforce"
DstPort 1
}
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [20, 0]
Branch {
DstBlock "Gain2"
DstPort 1
}
Branch {
Points [0, 275]
Branch {
Points [0, 45]
DstBlock "Unit Delay1"
DstPort 1
}
Branch {
DstBlock "Sum2"
DstPort 1
}
}
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 70]
DstBlock "To Workspace2"
DstPort 1
}
Branch {
DstBlock "Scope2"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [70, 0]
Branch {
Points [100, 0]
Branch {
DstBlock "To Workspace1"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Scope2"
DstPort 1
}
}
Branch {
Points [0, 220]
Branch {
Points [0, 45]
DstBlock "Unit Delay"
DstPort 1
}
Branch {
DstBlock "Sum1"
DstPort 1
}
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "Unit Delay1"
SrcPort 1
Points [10, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [95, 0]
DstBlock "Scope1"
DstPort 2
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
Points [5, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [65, 0]
DstBlock "Scope1"
DstPort 1
}
}
}
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