📄 mimomsf2df3.mdl
字号:
Position [215, 252, 230, 288]
Orientation "left"
ShowName off
IconShape "rectangular"
Inputs "+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [30, 183, 60, 197]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "(1,1)"
SrcPort 1
Points [-10, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "3_input_state"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [-110, 0]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "(1,2)"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "(1,3)"
SrcPort 1
Points [-10, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "(3,1)"
SrcPort 1
Points [-10, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "(3,2)"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "(3,3)"
SrcPort 1
Points [-10, 0]
DstBlock "Sum3"
DstPort 3
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [-110, 0]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "(2,1)"
SrcPort 1
Points [-10, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "(2,2)"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "(2,3)"
SrcPort 1
Points [-10, 0]
DstBlock "Sum2"
DstPort 3
}
Line {
SrcBlock "3_input_state"
SrcPort 1
Points [-65, 0]
Branch {
Points [-60, 0]
Branch {
DstBlock "(1,1)"
DstPort 1
}
Branch {
Points [0, 130; -140, 0; 0, -35]
DstBlock "(2,1)"
DstPort 1
}
}
Branch {
Points [0, 175]
DstBlock "(3,1)"
DstPort 1
}
}
Line {
SrcBlock "3_input_state"
SrcPort 2
Points [-55, 0]
Branch {
Points [-60, 0]
Branch {
Points [-55, 0]
DstBlock "(1,2)"
DstPort 1
}
Branch {
Points [0, 125]
DstBlock "(2,2)"
DstPort 1
}
}
Branch {
Points [0, 205]
DstBlock "(3,2)"
DstPort 1
}
}
Line {
SrcBlock "3_input_state"
SrcPort 3
Points [-45, 0]
Branch {
Points [-60, 0]
Branch {
Points [-55, 0; 0, 65]
DstBlock "(1,3)"
DstPort 1
}
Branch {
Points [0, 120; -160, 0; 0, 40]
DstBlock "(2,3)"
DstPort 1
}
}
Branch {
Points [0, 240]
DstBlock "(3,3)"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "input delay"
Ports [1, 1, 0, 0, 0]
Position [400, 88, 465, 122]
ShowName off
ShowPortLabels on
MaskType "input delay"
MaskPromptString "Input Delay (vector)"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskVariables "input_delay=@1;"
MaskDisplay "disp('Input delay')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "input_delay"
System {
Name "input delay"
Location [516, 120, 781, 322]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [25, 53, 55, 67]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3, 0, 0, 0]
Position [75, 35, 80, 85]
BackgroundColor "black"
ShowName off
Outputs "3"
}
Block {
BlockType Reference
Name "Mdelay"
Ports [1, 1, 0, 0, 0]
Position [115, 14, 150, 46]
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "input_delay(1)"
}
Block {
BlockType Reference
Name "Mdelay1"
Ports [1, 1, 0, 0, 0]
Position [115, 69, 150, 101]
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "input_delay(2)"
}
Block {
BlockType Reference
Name "Mdelay2"
Ports [1, 1, 0, 0, 0]
Position [115, 119, 150, 151]
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "input_delay(3)"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [185, 35, 190, 85]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "Out1"
Position [215, 53, 245, 67]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Mdelay"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Mdelay1"
DstPort 1
}
Line {
SrcBlock "Mdelay"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mdelay1"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Mdelay2"
DstPort 1
}
Line {
SrcBlock "Mdelay2"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType Reference
Name "input revese swaping"
Ports [1, 1, 0, 0, 0]
Position [445, 170, 475, 200]
Orientation "left"
SourceBlock "simulink3/Math/Matrix\nGain"
SourceType "Matrix Gain"
K "T"
}
Block {
BlockType Reference
Name "input swaping"
Ports [1, 1, 0, 0, 0]
Position [340, 90, 370, 120]
SourceBlock "simulink3/Math/Matrix\nGain"
SourceType "Matrix Gain"
K "inv(T)"
}
Block {
BlockType Reference
Name "qd"
Ports [1, 1, 0, 0, 0]
Position [200, 208, 245, 252]
Orientation "left"
SourceBlock "MIMO_lib/3x3"
SourceType "diagonal transfer function matrix"
num "qdnum"
den "qdden"
}
Line {
SrcBlock "Ksp"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "combined K(s) and 1/D(s)"
SrcPort 1
Points [-35, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Ksp"
DstPort 1
}
Line {
SrcBlock "input revese swaping"
SrcPort 1
DstBlock "combined K(s) and 1/D(s)"
DstPort 1
}
Line {
SrcBlock "Model"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Process"
SrcPort 1
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Setpoint1"
SrcPort 1
Points [-5, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "input swaping"
DstPort 1
}
Line {
SrcBlock "Prefilter"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Setpoint"
SrcPort 1
Points [-20, 0]
DstBlock "Prefilter"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 50]
DstBlock "qd"
DstPort 1
}
Line {
SrcBlock "qd"
SrcPort 1
Points [-55, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "input swaping"
SrcPort 1
DstBlock "input delay"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Process"
DstPort 1
}
Branch {
Points [0, 80]
Branch {
DstBlock "Model"
DstPort 1
}
Branch {
DstBlock "input revese swaping"
DstPort 1
}
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "input delay"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Saturation"
DstPort 1
}
Branch {
DstBlock "To Workspace2"
DstPort 1
}
}
Annotation {
Position [441, 287]
Text "* In put delay and input swaping result from th"
"e Dtarray function, to make the system be able to be decoupled."
}
Annotation {
Position [166, 26]
Text "MIMO 3 x 3 system"
}
}
}
⌨️ 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 + -