📄 distributed.mdl
字号:
Position [275, 64, 300, 86]
Location [83, 518, 897, 977]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "0.6"
YMin "0.8"
YMax "3.7"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Terminator
Name "Terminator"
Position [225, 85, 245, 105]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator1"
Position [225, 45, 245, 65]
ShowName off
}
Block {
BlockType Reference
Name "TrueTime Kernel"
Ports [3, 5]
Position [80, 27, 195, 103]
DropShadow on
SourceBlock "truetime/TrueTime Kernel"
SourceType "Unknown"
sfun "actuator_init"
args "0"
battery "off"
clockdrift "0"
clockoffset "0"
}
Block {
BlockType Outport
Name "D/A"
Position [270, 28, 300, 42]
IconDisplay "Port number"
}
Line {
SrcBlock "Ground1"
SrcPort 1
DstBlock "TrueTime Kernel"
DstPort 1
}
Line {
SrcBlock "Rcv"
SrcPort 1
DstBlock "TrueTime Kernel"
DstPort 3
}
Line {
SrcBlock "Ground"
SrcPort 1
DstBlock "TrueTime Kernel"
DstPort 2
}
Line {
Labels [1, 0]
SrcBlock "TrueTime Kernel"
SrcPort 1
DstBlock "D/A"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 2
Points [0, 5]
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 3
Points [0, 10]
DstBlock "Schedule, actuator node"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 4
Points [0, 15]
DstBlock "Terminator"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Node 3\n(Controller)"
Ports [2, 1]
Position [426, 280, 484, 325]
Orientation "up"
BackgroundColor "lightBlue"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Node 3\n(Controller)"
Location [534, 344, 882, 487]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Rcv"
Position [15, 98, 45, 112]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "r"
Position [15, 28, 45, 42]
Port "2"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Ground
Name "Ground"
Position [20, 60, 40, 80]
ShowName off
}
Block {
BlockType Scope
Name "Schedule, computer node"
Ports [1]
Position [270, 68, 295, 92]
Location [276, 407, 1016, 653]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "0.6"
YMin "0.8"
YMax "4.7"
SaveName "schedule"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Terminator
Name "Terminator"
Position [235, 90, 255, 110]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator1"
Position [270, 30, 290, 50]
ShowName off
}
Block {
BlockType Reference
Name "TrueTime Kernel"
Ports [3, 5]
Position [85, 32, 200, 108]
DropShadow on
SourceBlock "truetime/TrueTime Kernel"
SourceType "Unknown"
sfun "controller_init"
args "0"
battery "off"
clockdrift "0"
clockoffset "0"
}
Block {
BlockType Outport
Name "Snd"
Position [230, 53, 260, 67]
IconDisplay "Port number"
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 2
Points [0, 5]
DstBlock "Snd"
DstPort 1
}
Line {
SrcBlock "Ground"
SrcPort 1
DstBlock "TrueTime Kernel"
DstPort 2
}
Line {
SrcBlock "r"
SrcPort 1
Points [20, 0]
DstBlock "TrueTime Kernel"
DstPort 1
}
Line {
SrcBlock "Rcv"
SrcPort 1
Points [20, 0]
DstBlock "TrueTime Kernel"
DstPort 3
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 3
Points [0, 10]
DstBlock "Schedule, computer node"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 1
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 4
Points [0, 15]
DstBlock "Terminator"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Node 4\n(Sensor)"
Ports [1, 1]
Position [502, 120, 558, 165]
Orientation "down"
BackgroundColor "lightBlue"
NamePlacement "alternate"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Node 4\n(Sensor)"
Location [791, 362, 1126, 511]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "A/D"
Position [15, 28, 45, 42]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Ground
Name "Ground"
Position [20, 55, 40, 75]
ShowName off
}
Block {
BlockType Ground
Name "Ground1"
Position [20, 80, 40, 100]
ShowName off
}
Block {
BlockType Scope
Name "Schedule, sensor node"
Ports [1]
Position [265, 64, 290, 86]
Location [38, 422, 852, 881]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "0.6"
YMin "0.8"
YMax "3.7"
DataFormat "Array"
LimitDataPoints off
}
Block {
BlockType Terminator
Name "Terminator"
Position [225, 85, 245, 105]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator1"
Position [270, 30, 290, 50]
ShowName off
}
Block {
BlockType Reference
Name "TrueTime Kernel"
Ports [3, 5]
Position [85, 27, 200, 103]
DropShadow on
SourceBlock "truetime/TrueTime Kernel"
SourceType "Unknown"
sfun "sensor_init"
args "0"
battery "off"
clockdrift "0"
clockoffset "0"
}
Block {
BlockType Outport
Name "Snd"
Position [225, 48, 255, 62]
IconDisplay "Port number"
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 4
Points [0, 15]
DstBlock "Terminator"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 3
Points [0, 10]
DstBlock "Schedule, sensor node"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 2
Points [0, 5]
DstBlock "Snd"
DstPort 1
}
Line {
SrcBlock "TrueTime Kernel"
SrcPort 1
Points [0, 5]
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "Ground"
SrcPort 1
DstBlock "TrueTime Kernel"
DstPort 2
}
Line {
SrcBlock "Ground1"
SrcPort 1
DstBlock "TrueTime Kernel"
DstPort 3
}
Line {
SrcBlock "A/D"
SrcPort 1
Points [0, 5]
DstBlock "TrueTime Kernel"
DstPort 1
}
}
}
Block {
BlockType SignalGenerator
Name "Reference"
Ports [0, 1]
Position [335, 390, 365, 420]
WaveForm "square"
Frequency "2"
}
Block {
BlockType Scope
Name "r, y; u"
Ports [2]
Position [545, 389, 590, 431]
Location [422, 350, 1019, 762]
Open on
NumInputPorts "2"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
TimeRange "1"
YMin "-1.5~-4"
YMax "1.5~4"
SaveName "y"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Display"
DstPort 1
}
Line {
SrcBlock "Network"
SrcPort 2
Points [10, 0]
DstBlock "Node 2\n(Actuator)"
DstPort 1
}
Line {
SrcBlock "Node 2\n(Actuator)"
SrcPort 1
Points [0, -40; 10, 0]
Branch {
DstBlock "DC Servo"
DstPort 1
}
Branch {
DstBlock "Goto1"
DstPort 1
}
}
Line {
SrcBlock "Node 4\n(Sensor)"
SrcPort 1
DstBlock "Network"
DstPort 4
}
Line {
SrcBlock "DC Servo"
SrcPort 1
Points [-5, 0; 20, 0]
Branch {
Points [55, 0]
DstBlock "Node 4\n(Sensor)"
DstPort 1
}
Branch {
DstBlock "Goto"
DstPort 1
}
}
Line {
SrcBlock "Node 3\n(Controller)"
SrcPort 1
Points [0, -95; -45, 0]
DstBlock "Network"
DstPort 3
}
Line {
Name "r, y"
Labels [0, 0]
SrcBlock "Mux"
SrcPort 1
DstBlock "r, y; u"
DstPort 1
}
Line {
SrcBlock "From"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Reference"
SrcPort 1
Points [0, 0; 40, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, -35; 60, 0]
DstBlock "Node 3\n(Controller)"
DstPort 2
}
}
Line {
Name "u"
Labels [-1, 0]
SrcBlock "From1"
SrcPort 1
DstBlock "r, y; u"
DstPort 2
}
Line {
SrcBlock "Node 1\n(Interference)"
SrcPort 1
DstBlock "Network"
DstPort 1
}
Line {
SrcBlock "Network"
SrcPort 3
Points [0, 100; 30, 0]
DstBlock "Node 3\n(Controller)"
DstPort 1
}
Annotation {
Name "TrueTime 1.5 Distributed Control System\nCopyr"
"ight (c) 2007\nMartin Ohlin, Dan Henriksson and Anton Cervin\nDepartment of A"
"utomatic Control, Lund University, Sweden\nPlease direct questions and bug re"
"ports to: truetime@control.lth.se "
Position [191, 321]
}
}
}
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