📄 fdclib5.mdl
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}
Line {
SrcBlock "Mux3"
SrcPort 1
Points [10, 0; 0, 35; -435, 0]
DstBlock "Mux4"
DstPort 2
}
Line {
SrcBlock "ybvel*"
SrcPort 1
Points [0, -30]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "uxYH"
SrcPort 1
Points [30, 0]
Branch {
Points [0, 80]
DstBlock "Mux4"
DstPort 1
}
Branch {
DstBlock "Mux2"
DstPort 1
}
}
Annotation {
Position [497, 257]
VerticalAlignment top
ForegroundColor red
FontName "Arial"
Text "yxyH=[xe dot; ye dot; H dot]"
}
Annotation {
Position [72, 257]
VerticalAlignment top
ForegroundColor red
FontName "Arial"
Text "uxyH=[x;Ftot;Mtot;yhlp]"
}
}
}
Block {
BlockType Outport
Name "xdot"
Position [305, 95, 325, 115]
DropShadow on
FontName "Arial"
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "xdot"
DstPort 1
}
Line {
SrcBlock "Vabdot"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "pqrdot"
SrcPort 1
Points [15, 0; 0, -50]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Eulerdot"
SrcPort 1
Points [25, 0; 0, -100]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "xyHdot"
SrcPort 1
Points [35, 0; 0, -150]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "yhlp"
SrcPort 1
Points [20, 0; 0, -20]
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "ybvel*"
SrcPort 1
DstBlock "xyHdot"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 60]
Branch {
Points [0, 70]
DstBlock "xyHdot"
DstPort 2
}
Branch {
DstBlock "Eulerdot"
DstPort 1
}
}
Branch {
Points [0, -60]
DstBlock "Vabdot"
DstPort 1
}
Branch {
DstBlock "pqrdot"
DstPort 1
}
}
Line {
SrcBlock "Ftot"
SrcPort 1
Points [20, 0; 0, 20]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mtot"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "x"
SrcPort 1
Points [30, 0; 0, 40]
DstBlock "Mux"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "eqm"
Ports [5, 3, 0, 0, 0]
Position [420, 160, 485, 230]
FontName "Arial"
ShowName off
ShowPortLabels off
System {
Name "eqm"
Location [4, 43, 621, 374]
Open off
ScreenColor white
Block {
BlockType Inport
Name "Ftot"
Position [10, 55, 30, 75]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Mtot"
Position [10, 95, 30, 115]
DropShadow on
FontName "Arial"
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "uwind"
Position [10, 135, 30, 155]
DropShadow on
FontName "Arial"
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "yatm"
Position [10, 290, 30, 310]
DropShadow on
FontName "Arial"
Port "4"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "yhlp"
Position [10, 220, 30, 240]
ForegroundColor magenta
DropShadow on
FontName "Arial"
Port "5"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Gain
Name " *1"
Position [562, 105, 568, 110]
Orientation up
ForegroundColor magenta
FontName "Arial"
ShowName off
Gain "1"
}
Block {
BlockType Gain
Name "*1"
Position [562, 135, 568, 140]
Orientation down
ForegroundColor magenta
FontName "Arial"
ShowName off
Gain "1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [5, 5, 200, 35]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp eqmotion"
ShowPortLabels off
MaskDisplay "disp('EQUATIONS OF MOTION (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 {
BlockType SubSystem
Name "?"
Ports [0, 0, 0, 0, 0]
Position [405, 150, 465, 177]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp xfix"
ShowPortLabels off
MaskDisplay "disp('More info\\nfor xfix')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "?"
Location [362, 72, 452, 157]
Open off
ScreenColor white
}
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2, 0, 0, 0]
Position [70, 135, 110, 155]
FontName "Arial"
ShowName off
Outputs "[3 3]"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1, 0, 0, 0]
Position [515, 104, 545, 136]
FontName "Arial"
ExternalReset none
InitialConditionSource internal
InitialCondition "xinco"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType SubSystem
Name "ODE"
Ports [5, 1, 0, 0, 0]
Position [255, 59, 295, 151]
FontName "Arial"
ShowName off
ShowPortLabels off
System {
Name "ODE"
Location [4, 42, 345, 356]
Open off
ScreenColor white
Block {
BlockType Inport
Name "x"
Position [20, 70, 40, 90]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Ftot"
Position [20, 110, 40, 130]
DropShadow on
FontName "Arial"
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "Mtot"
Position [20, 150, 40, 170]
DropShadow on
FontName "Arial"
Port "3"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "yhlp"
Position [20, 190, 40, 210]
DropShadow on
FontName "Arial"
Port "4"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "ybvel*"
Position [20, 250, 40, 270]
DropShadow on
FontName "Arial"
Port "5"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [5, 5, 145, 50]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp 12odes"
ShowPortLabels off
MaskDisplay "disp('12 Ordinary Differential\\nEquatio"
"ns (level 4)\\nM.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 "Eulerdot"
Ports [1, 1, 0, 0, 0]
Position [150, 187, 210, 233]
FontName "Arial"
ShowPortLabels off
MaskType "Eulerdot"
MaskDescription "Calculation of d(psi)/dt, d(theta)/dt,\n"
"and d(phi/dt)"
MaskHelp "eval('fdchelp eulerdot')"
MaskDisplay "disp('psi dot\\ntheta dot\\nphi dot')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "Eulerdot"
Location [4, 42, 491, 256]
Open off
ScreenColor white
Block {
BlockType Inport
Name "ueul"
Position [25, 105, 45, 125]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [20, 15, 160, 45]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp eulerdot"
ShowPortLabels off
MaskDisplay "disp('EULERDOT\\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 Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [110, 151, 115, 184]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "[29 1]"
}
Block {
BlockType Mux
Name "Mux2"
Ports [3, 1, 0, 0, 0]
Position [415, 91, 420, 139]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "3"
}
Block {
BlockType Fcn
Name "phi dot"
Position [145, 160, 355, 180]
FontName "Arial"
Expr "u[4] + u[30]*u[26]"
}
Block {
BlockType Fcn
Name "psi dot"
Position [145, 65, 355, 85]
FontName "Arial"
Expr "(u[5]*u[28] + u[6]*u[29])/u[27]"
}
Block {
BlockType Fcn
Name "theta dot"
Position [145, 105, 355, 125]
FontName "Arial"
Expr "u[5]*u[29] - u[6]*u[28]"
}
Block {
BlockType Outport
Name "yeul"
Position [450, 105, 470, 125]
DropShadow on
FontName "Arial"
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "ueul"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "theta dot"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Mux1"
DstPort 1
}
Branch {
Points [0, -40]
DstBlock "psi dot"
DstPort 1
}
}
Line {
SrcBlock "psi dot"
SrcPort 1
Points [15, 0]
Branch {
Points [15, 0; 0, 25]
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [0, 70; -285, 0; 0, 30]
DstBlock "Mux1"
DstPort 2
}
}
Line {
SrcBlock "theta dot"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "yeul"
DstPort 1
}
Line {
SrcBlock "phi dot"
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