📄 pah.mdl
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Model {
Name "pah"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes off
StartTime "0.0"
StopTime "60"
SolverMode "SingleTasking"
Solver "ode15s"
RelTol "1e-6"
AbsTol "1e-6"
Refine "1"
MaxStep "5"
InitialStep "auto"
FixedStep "auto"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Matrix"
LimitMaxRows off
MaxRows "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
IntegerOverflowMsg "warning"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
ConsistencyChecking "off"
ZeroCross on
SimulationMode "normal"
BlockDataTips on
BlockParametersDataTip on
BlockAttributesDataTip off
BlockPortWidthsDataTip off
BlockDescriptionStringDataTip off
BlockMaskParametersDataTip off
ToolBar off
StatusBar off
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
OptimizeBlockIOStorage on
BufferReuse on
BooleanDataType off
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_vc.tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "oneshot"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect off
Created "Tue Mar 18 21:44:52 2003"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Dutchroll"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Tue May 04 16:37:34 2004"
ModelVersionFormat "1.%<AutoIncrement:20>"
ConfigurationManager "none"
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "pah"
Location [24, 70, 525, 372]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Cables &\nactuators"
Ports [1, 1, 0, 0, 0]
Position [270, 142, 325, 188]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Cable &\\nactuator\\ndynamics')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
Port {
PortNumber 1
Name "Ddeltae"
TestPoint off
RTWStorageClass "Auto"
}
System {
Name "Cables &\nactuators"
Location [31, 57, 323, 277]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "VDdeltae"
Position [20, 93, 50, 107]
FontName "Arial"
FontSize 11
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType StateSpace
Name "Elevator actuator\nand cables"
Position [140, 91, 210, 129]
FontName "Arial"
FontSize 11
A "Aelv"
B "Belv"
C "Celv"
D "Delv"
X0 "0"
}
Block {
BlockType Ground
Name "Ground"
Position [70, 108, 85, 122]
ShowName off
FontSize 11
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [105, 93, 110, 122]
BackgroundColor "black"
ShowName off
FontName "Arial"
FontSize 11
Inputs "2"
DisplayOption "none"
}
Block {
BlockType SubSystem
Name "t"
Ports [0, 0, 0, 0, 0]
Position [15, 16, 158, 63]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "browse actuatr"
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Dynamics of the cables\\nand actuator"
" of the elevator\\nM.O. Rauw, April 2003')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "t"
Location [469, 78, 574, 168]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Block {
BlockType Outport
Name "Ddeltae"
Position [245, 103, 275, 117]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Elevator actuator\nand cables"
SrcPort 1
DstBlock "Ddeltae"
DstPort 1
}
Line {
SrcBlock "Ground"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Elevator actuator\nand cables"
DstPort 1
}
Line {
SrcBlock "VDdeltae"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Annotation {
Position [142, 167]
VerticalAlignment "top"
ForegroundColor "red"
Text "Second input of Mux block takes into accoun"
"t\ninfluence of pitch-rate upon elevator deflection\n(neglected here)."
FontSize 11
}
}
}
Block {
BlockType Scope
Name "Dq"
Ports [1, 0, 0, 0, 0]
Position [470, 171, 490, 189]
BackgroundColor "darkGreen"
FontName "Arial"
FontSize 11
Floating off
Location [514, 30, 774, 203]
Open on
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "60"
YMin "-0.03"
YMax "0.03"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Dtheta"
Ports [1, 0, 0, 0, 0]
Position [470, 136, 490, 154]
BackgroundColor "darkGreen"
FontName "Arial"
FontSize 11
Floating off
Location [515, 229, 774, 401]
Open on
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "60.000000"
YMin "-0.025"
YMax "0.025"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Dtheta_ref"
Position [20, 150, 40, 170]
DropShadow on
FontName "Arial"
FontSize 11
Time "0"
Before "0"
After "1*pi/180"
SampleTime "0"
}
Block {
BlockType TransferFcn
Name "Integrator"
Position [170, 103, 205, 137]
FontName "Arial"
FontSize 11
Numerator "[Ki_1]"
Denominator "[1 0]"
}
Block {
BlockType Gain
Name "Kq"
Position [320, 219, 355, 251]
Orientation "left"
FontName "Arial"
FontSize 11
Gain "Kq"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Ktheta"
Position [115, 152, 140, 178]
FontName "Arial"
FontSize 11
Gain "Ktheta"
SaturateOnIntegerOverflow on
}
Block {
BlockType Reference
Name "PRAHINIT"
Ports [0, 0, 0, 0, 0]
Position [265, 15, 345, 60]
BackgroundColor "cyan"
DropShadow on
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "fbuttons/PRAHINIT"
SourceType ""
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [80, 155, 95, 175]
ShowName off
FontName "Arial"
FontSize 11
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1, 0, 0, 0]
Position [235, 143, 250, 187]
ShowName off
FontName "Arial"
FontSize 11
IconShape "rectangular"
Inputs "++-"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "ac"
Ports [1, 2, 0, 0, 0]
Position [375, 128, 430, 197]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('BEAVER\\ndynamics')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "ac"
Location [22, 60, 506, 397]
Open off
ModelBrowserVisibility off
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