📄 sim25.mdl
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RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Display
Format "short"
Decimation "10"
Floating off
SampleTime "-1"
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType HitCross
HitCrossingOffset "0"
HitCrossingDirection "either"
ShowOutputPort on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType InitialCondition
Value "1"
SampleTime "-1"
}
Block {
BlockType Inport
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
Interpolate on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType Logic
Operator "AND"
Inputs "2"
AllPortsSameDT on
OutDataTypeMode "Logical (see Configuration Parameters: Optimiza"
"tion)"
LogicDataType "uint(8)"
SampleTime "-1"
}
Block {
BlockType MinMax
Function "min"
Inputs "1"
InputSameDT on
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType Outport
Port "1"
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Product
Inputs "2"
Multiplication "Element-wise(.*)"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Scope
Floating off
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Signum
ZeroCross on
SampleTime "-1"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Switch
Criteria "u2 >= Threshold"
Threshold "0"
InputSameDT on
OutDataTypeMode "Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
SampleTime "-1"
}
}
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 "Sim25"
Location [2, 82, 1014, 721]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 43
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Gain
Name "1/m"
Position [270, 140, 340, 180]
BackgroundColor "[1.000000, 0.501961, 0.752941]"
ShowName off
Gain "1/3.5"
}
Block {
BlockType Constant
Name "Constant"
Position [250, 208, 280, 232]
BackgroundColor "[1.000000, 0.000000, 0.501961]"
ShowName off
Value "0"
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion"
Position [510, 281, 565, 319]
Orientation "left"
BackgroundColor "[0.000000, 1.000000, 0.250980]"
ShowName off
OutDataTypeMode "double"
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion1"
Position [682, 245, 728, 275]
Orientation "down"
BackgroundColor "[0.000000, 1.000000, 0.250980]"
ShowName off
OutDataTypeMode "boolean"
}
Block {
BlockType Display
Name "Display"
Ports [1]
Position [220, 552, 275, 588]
BackgroundColor "[1.000000, 0.501961, 0.250980]"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display1"
Ports [1]
Position [690, 31, 755, 69]
BackgroundColor "[1.000000, 0.501961, 0.250980]"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display2"
Ports [1]
Position [750, 467, 790, 503]
BackgroundColor "[1.000000, 0.501961, 0.250980]"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display3"
Ports [1]
Position [755, 273, 795, 307]
BackgroundColor "[1.000000, 0.501961, 0.250980]"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display4"
Ports [1]
Position [740, 371, 790, 409]
BackgroundColor "[1.000000, 0.501961, 0.250980]"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display5"
Ports [1]
Position [545, 98, 585, 132]
BackgroundColor "[1.000000, 0.501961, 0.250980]"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display6"
Ports [1]
Position [260, 79, 310, 111]
Orientation "left"
BackgroundColor "[1.000000, 0.501961, 0.250980]"
NamePlacement "alternate"
ShowName off
Decimation "1"
}
Block {
BlockType SubSystem
Name "Friction Model"
Ports [5, 2]
Position [305, 341, 435, 529]
BackgroundColor "magenta"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Friction Model"
Location [2, 78, 1022, 717]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "velocity"
Position [35, 386, 70, 404]
BackgroundColor "[0.000000, 1.000000, 0.250980]"
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "velocity_stateport"
Position [35, 261, 70, 279]
BackgroundColor "[0.000000, 1.000000, 0.250980]"
Port "2"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "kinetic\nfriction"
Position [35, 426, 70, 444]
BackgroundColor "[0.000000, 1.000000, 0.250980]"
Port "3"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "static\nfriction"
Position [35, 61, 70, 79]
BackgroundColor "[0.000000, 1.000000, 0.250980]"
Port "4"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Inport
Name "force"
Position [35, 136, 70, 154]
BackgroundColor "[0.000000, 1.000000, 0.250980]"
Port "5"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Abs
Name "Abs"
Position [140, 84, 180, 116]
BackgroundColor "[0.501961, 0.000000, 1.000000]"
}
Block {
BlockType Display
Name "Display"
Ports [1]
Position [465, 131, 530, 179]
BackgroundColor "lightBlue"
ShowName off
Decimation "1"
}
Block {
BlockType Display
Name "Display5"
Ports [1]
Position [420, 389, 475, 441]
BackgroundColor "lightBlue"
ShowName off
Decimation "1"
}
Block {
BlockType HitCross
Name "Hit \nCrossing"
Ports [1, 1]
Position [205, 246, 255, 294]
BackgroundColor "[0.501961, 0.000000, 1.000000]"
HitCrossingDirection "either"
}
Block {
BlockType MinMax
Name "Min"
Ports [2, 1]
Position [230, 53, 275, 117]
BackgroundColor "[1.000000, 0.000000, 1.000000]"
Function "min"
Inputs "2"
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [325, 116, 365, 194]
BackgroundColor "magenta"
ShowName off
RndMeth "Floor"
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [220, 375, 260, 455]
BackgroundColor "magenta"
ShowName off
RndMeth "Floor"
}
Block {
BlockType Signum
Name "Sign"
Position [135, 375, 180, 415]
BackgroundColor "[0.501961, 0.000000, 1.000000]"
}
Block {
BlockType Signum
Name "Sign1"
Position [140, 155, 185, 195]
BackgroundColor "[0.501961, 0.000000, 1.000000]"
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