📄 pahrah.mdl
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Model {
Name "pahrah"
Version 2.09
SimParamPage Solver
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
PaperOrientation landscape
PaperType usletter
PaperUnits inches
StartTime "0.0"
StopTime "60"
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"
LimitMaxRows off
MaxRows "1000"
Decimation "1"
AlgebraicLoopMsg warning
MinStepSizeMsg warning
UnconnectedInputMsg warning
UnconnectedOutputMsg warning
UnconnectedLineMsg warning
ConsistencyChecking off
ZeroCross on
SimulationMode normal
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_vc.tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
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 "pahrah"
Location [2, 42, 564, 503]
Open on
ScreenColor white
Block {
BlockType Product
Name "*"
Ports [2, 1, 0, 0, 0]
Position [260, 323, 275, 347]
Orientation left
FontName "Arial"
ShowName off
Inputs "2"
}
Block {
BlockType Scope
Name "Dphi"
Ports [1, 0, 0, 0, 0]
Position [525, 266, 545, 284]
BackgroundColor gray
FontName "Arial"
Floating off
Location [569, 439, 790, 594]
Open on
Grid on
TickLabels on
ZoomMode on
TimeRange "60.000000"
YMin "-0.300000"
YMax "0.300000"
SaveToWorkspace off
SaveName "ScopeData"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Dphi_ref"
Position [15, 245, 35, 265]
DropShadow on
FontName "Arial"
Time "0"
Before "0"
After "10*pi/180"
}
Block {
BlockType Scope
Name "Dq"
Ports [1, 0, 0, 0, 0]
Position [525, 156, 545, 174]
BackgroundColor gray
FontName "Arial"
Floating off
Location [567, 30, 789, 188]
Open on
Grid on
TickLabels on
ZoomMode on
TimeRange "60.000000"
YMin "-0.030000"
YMax "0.030000"
SaveToWorkspace off
SaveName "ScopeData"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Dr"
Ports [1, 0, 0, 0, 0]
Position [525, 231, 545, 249]
BackgroundColor gray
FontName "Arial"
Floating off
Location [568, 319, 789, 470]
Open on
Grid on
TickLabels on
ZoomMode on
TimeRange "60.000000"
YMin "-0.025000"
YMax "0.025000"
SaveToWorkspace off
SaveName "ScopeData"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Dtheta"
Ports [1, 0, 0, 0, 0]
Position [525, 191, 545, 209]
BackgroundColor gray
FontName "Arial"
Floating off
Location [568, 173, 789, 325]
Open on
Grid on
TickLabels on
ZoomMode on
TimeRange "60.000000"
YMin "-0.025000"
YMax "0.025000"
SaveToWorkspace off
SaveName "ScopeData"
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"
Time "0"
Before "0"
After "1*pi/180"
}
Block {
BlockType TransferFcn
Name "Integrator"
Position [175, 245, 205, 275]
FontName "Arial"
Numerator "[Ki_2]"
Denominator "[1 0]"
}
Block {
BlockType TransferFcn
Name "Integrator "
Position [175, 140, 205, 170]
FontName "Arial"
Numerator "[Ki_1]"
Denominator "[1 0]"
}
Block {
BlockType Gain
Name "Kphi"
Position [110, 247, 135, 273]
FontName "Arial"
Gain "Kphi"
}
Block {
BlockType Gain
Name "Kq"
Position [340, 105, 375, 135]
Orientation left
FontName "Arial"
Gain "Kq"
}
Block {
BlockType Gain
Name "Ktheta"
Position [115, 142, 140, 168]
FontName "Arial"
Gain "Ktheta"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [75, 250, 90, 270]
FontName "Arial"
ShowName off
Inputs "+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1, 0, 0, 0]
Position [260, 241, 275, 279]
FontName "Arial"
ShowName off
Inputs "+++"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [260, 288, 275, 312]
FontName "Arial"
ShowName off
Inputs "++"
}
Block {
BlockType Sum
Name "Sum3"
Ports [3, 1, 0, 0, 0]
Position [260, 136, 275, 174]
FontName "Arial"
ShowName off
Inputs "-++"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1, 0, 0, 0]
Position [80, 145, 95, 165]
FontName "Arial"
ShowName off
Inputs "-+"
}
Block {
BlockType SubSystem
Name "ac"
Ports [3, 4, 0, 0, 0]
Position [420, 181, 470, 259]
FontName "Arial"
ShowName off
ShowPortLabels off
MaskDisplay "disp('BEAVER\\ndynamics')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "ac"
Location [6, 44, 499, 409]
Open off
ScreenColor white
Block {
BlockType Inport
Name "Ddelta_e"
Position [40, 105, 60, 125]
DropShadow on
FontName "Arial"
FontSize 9
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Ddelta_a"
Position [40, 145, 60, 165]
DropShadow on
FontName "Arial"
FontSize 9
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Ddelta_r"
Position [40, 185, 60, 205]
DropShadow on
FontName "Arial"
FontSize 9
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "Beaver dynamics"
Ports [3, 2, 0, 0, 0]
Position [205, 137, 275, 253]
BackgroundColor lightBlue
ShowPortLabels on
System {
Name "Beaver dynamics"
Location [14, 46, 466, 479]
Open off
ScreenColor white
Block {
BlockType Inport
Name "uaero"
Position [25, 215, 45, 235]
DropShadow on
FontName "Arial"
FontSize 9
Port "1"
PortWidth "4"
SampleTime "-1"
}
Block {
BlockType Inport
Name "uprop"
Position [25, 280, 45, 300]
DropShadow on
FontName "Arial"
FontSize 9
Port "2"
PortWidth "2"
SampleTime "-1"
}
Block {
BlockType Inport
Name "uwind"
Position [25, 345, 45, 365]
DropShadow on
FontName "Arial"
FontSize 9
Port "3"
PortWidth "6"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [15, 14, 153, 56]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp level1"
ShowPortLabels off
MaskDisplay "disp('Subsystem equivalent of\\nthe "
"S-function BEAVER\\nM.O. Rauw, October "
"1997')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "0"
Location [99, 72, 274, 227]
Open off
ScreenColor white
}
}
Block {
BlockType SubSystem
Name "AC"
Ports [3, 18, 0, 0, 0]
Position [110, 193, 175, 387]
FontName "Arial"
ShowName off
ShowPortLabels off
System {
Name "AC"
Location [13, 39, 690, 595]
Open off
ScreenColor white
Block {
BlockType Inport
Name "uaero"
Position [15, 135, 35, 155]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "uprop"
Position [15, 210, 35, 230]
DropShadow on
FontName "Arial"
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name " uwind"
Position [15, 420, 35, 440]
DropShadow on
FontName "Arial"
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Gain
Name " *1"
Position [502, 420, 508, 425]
Orientation down
ForegroundColor magenta
FontName "Arial"
ShowName off
Gain "1"
}
Block {
BlockType Gain
Name "*1"
Position [492, 445, 498, 450]
Orientation down
ForegroundColor magenta
FontName "Arial"
ShowName off
Gain "1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [7, 3, 157, 35]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp level2"
ShowPortLabels off
MaskDisplay "disp('BEAVER, level 2 (main level)\\n"
"M.O. Rauw')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "0"
Location [99, 72, 274, 227]
Open off
ScreenColor white
}
}
Block {
BlockType SubSystem
Name "ad"
Ports [1, 4, 0, 0, 0]
Position [85, 47, 140, 108]
FontName "Arial"
ShowName off
ShowPortLabels off
System {
Name "ad"
Location [4, 42, 409, 280]
Open off
ScreenColor white
Block {
BlockType Inport
Name "x"
Position [15, 55, 35, 75]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [10, 5, 175, 40]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp adgrp"
ShowPortLabels off
MaskDisplay "disp('AIRDATA GROUP (level "
"3)\\nM.O. Rauw')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "0"
Location [99, 72, 274, 227]
Open off
ScreenColor white
}
}
Block {
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