sim31.mdl

matlab源代码,适用于开发研究,带来很好的学习效果.

      LowerSaturationLimit    "0"
    }
    Block {
      BlockType		      Gain
      Name		      "Ctrl"
      Position		      [106, 150, 144, 190]
      Orientation	      "up"
      BackgroundColor	      "[0.501961, 0.000000, 1.000000]"
      NamePlacement	      "alternate"
      ShowName		      off
      Gain		      "ctrl"
    }
    Block {
      BlockType		      Constant
      Name		      "Desired\nrelative\nslip"
      Position		      [35, 103, 75, 137]
      BackgroundColor	      "[0.000000, 1.000000, 1.000000]"
      Value		      "0.2"
    }
    Block {
      BlockType		      Gain
      Name		      "Force &\ntorque"
      Position		      [405, 99, 455, 141]
      BackgroundColor	      "[0.501961, 0.000000, 1.000000]"
      Gain		      "Kf"
      Port {
	PortNumber		1
	Name			"brake torque"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
	DataLoggingName		"%<SignalLabel>"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Hydraulic Lag "
      Position		      [225, 99, 285, 141]
      BackgroundColor	      "[1.000000, 0.501961, 0.752941]"
      Numerator		      "[100]"
      Denominator	      "[TB 1]"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [3, 1]
      Position		      [690, 74, 695, 356]
      BackgroundColor	      "black"
      ShowName		      off
      Inputs		      "3"
    }
    Block {
      BlockType		      Fcn
      Name		      "Relative Slip"
      Position		      [275, 357, 455, 393]
      Orientation	      "left"
      BackgroundColor	      "[1.000000, 0.501961, 0.752941]"
      Expr		      "1.0 - u(1)/(u(2) + (u(2)==0)*eps)"
    }
    Block {
      BlockType		      Gain
      Name		      "Rr"
      Position		      [395, 199, 445, 241]
      BackgroundColor	      "[0.501961, 0.000000, 1.000000]"
      ShowName		      off
      Gain		      "Rr"
      Port {
	PortNumber		1
	Name			"tire torque"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
	DataLoggingName		"%<SignalLabel>"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Run\n"
      Ports		      []
      Position		      [320, 434, 420, 476]
      BackgroundColor	      "[1.000000, 1.000000, 0.501961]"
      DropShadow	      on
      ShowName		      off
      OpenFcn		      "runsim"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskDisplay	      "disp('Double click to\\nrun model and\\nplot th"
"e results')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Run\n"
	Location		[431, 371, 933, 724]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      Stop
      Name		      "Stop Simulation2"
      Position		      [505, 280, 545, 320]
      BackgroundColor	      "[1.000000, 0.000000, 0.000000]"
      ShowName		      off
    }
    Block {
      BlockType		      Integrator
      Name		      "Stopping distance"
      Ports		      [1, 1]
      Position		      [600, 288, 640, 332]
      BackgroundColor	      "magenta"
      UpperSaturationLimit    "1000"
      LowerSaturationLimit    "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [490, 105, 520, 135]
      BackgroundColor	      "[1.000000, 0.000000, 0.501961]"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|-+"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [110, 105, 140, 135]
      BackgroundColor	      "[1.000000, 0.000000, 0.501961]"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [765, 200, 830, 230]
      BackgroundColor	      "[0.000000, 1.000000, 0.250980]"
      NamePlacement	      "alternate"
      ShowName		      off
      VariableName	      "yout"
      MaxDataPoints	      "10000"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [200, 302, 260, 328]
      BackgroundColor	      "[0.000000, 1.000000, 1.000000]"
      NamePlacement	      "alternate"
      ShowName		      off
      VariableName	      "slp"
      MaxDataPoints	      "10000"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Integrator
      Name		      "Vehicle\nspeed"
      Ports		      [1, 2]
      Position		      [435, 260, 475, 315]
      BackgroundColor	      "magenta"
      InitialCondition	      "v0"
      LimitOutput	      on
      UpperSaturationLimit    "1000"
      LowerSaturationLimit    "0"
      ShowSaturationPort      on
    }
    Block {
      BlockType		      Gain
      Name		      "Vehicle speed\n(angular)"
      Position		      [605, 197, 655, 233]
      BackgroundColor	      "[0.501961, 0.000000, 1.000000]"
      Gain		      "1/Rr"
    }
    Block {
      BlockType		      Gain
      Name		      "Weight"
      Position		      [275, 203, 320, 237]
      BackgroundColor	      "[0.501961, 0.000000, 1.000000]"
      Gain		      "m*g/4"
      Port {
	PortNumber		1
	Name			"Ff"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
	DataLoggingName		"%<SignalLabel>"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      Integrator
      Name		      "Wheel\nSpeed"
      Ports		      [1, 1]
      Position		      [605, 95, 645, 145]
      BackgroundColor	      "magenta"
      InitialCondition	      "v0/Rr"
      LimitOutput	      on
      UpperSaturationLimit    "1000"
      LowerSaturationLimit    "0"
    }
    Block {
      BlockType		      Lookup
      Name		      "mu-slip\nfriction curve"
      Position		      [205, 200, 240, 240]
      BackgroundColor	      "[1.000000, 0.501961, 0.752941]"
      DialogController	      "Simulink.DDGSource"
      InputValues	      "slip"
      OutputValues	      "mu"
    }
    Line {
      SrcBlock		      "1/I"
      SrcPort		      1
      DstBlock		      "Wheel\nSpeed"
      DstPort		      1
    }
    Line {
      Labels		      [1, 0]
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	Labels			[1, 0]
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	Labels			[1, 0]
	Points			[0, 160]
	DstBlock		"Relative Slip"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "1/I"
      DstPort		      1
    }
    Line {
      Name		      "brake torque"
      Labels		      [1, 1]
      SrcBlock		      "Force &\ntorque"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "-1/m"
      SrcPort		      1
      DstBlock		      "Vehicle\nspeed"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Vehicle\nspeed"
      SrcPort		      2
      DstBlock		      "Stop Simulation2"
      DstPort		      1
    }
    Line {
      Labels		      [2, 0]
      SrcBlock		      "Vehicle\nspeed"
      SrcPort		      1
      Points		      [5, 0; 70, 0]
      Branch {
	Points			[0, -60]
	DstBlock		"Vehicle speed\n(angular)"
	DstPort			1
      }
      Branch {
	Points			[0, 35]
	DstBlock		"Stopping distance"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "mu-slip\nfriction curve"
      SrcPort		      1
      DstBlock		      "Weight"
      DstPort		      1
    }
    Line {
      Name		      "Ff"
      SrcBlock		      "Weight"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Labels			[1, 1]
	DstBlock		"Rr"
	DstPort			1
      }
      Branch {
	Points			[0, 70]
	DstBlock		"-1/m"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Brake\npressure"
      SrcPort		      1
      DstBlock		      "Force &\ntorque"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ctrl"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Bang-bang\ncontroller"
      SrcPort		      1
      DstBlock		      "Hydraulic Lag "
      DstPort		      1
    }
    Line {
      SrcBlock		      "Hydraulic Lag "
      SrcPort		      1
      DstBlock		      "Brake\npressure"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Desired\nrelative\nslip"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Bang-bang\ncontroller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Relative Slip"
      SrcPort		      1
      Points		      [-145, 0; 0, -60]
      Branch {
	Labels			[1, 0]
	Points			[0, -95]
	Branch {
	  DstBlock		  "Ctrl"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 0]
	  DstBlock		  "mu-slip\nfriction curve"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"To Workspace2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Wheel\nSpeed"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      Name		      "tire torque"
      Labels		      [0, 0]
      SrcBlock		      "Rr"
      SrcPort		      1
      Points		      [55, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Vehicle speed\n(angular)"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Stopping distance"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      3
    }
    Annotation {
      Position		      [672, 374]
    }
    Annotation {
      Position		      [623, 338]
    }
    Annotation {
      Position		      [349, 390]
    }
  }
}