📄 nonlinear_car_sub2_masked.mdl
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SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
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"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "arial"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "nonlinear_car_sub2_masked"
Location [41, 95, 712, 490]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Car's subsystem"
Ports [2, 1]
Position [405, 129, 505, 171]
FontSize 10
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
System {
Name "Car's subsystem"
Location [2, 82, 1014, 721]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [40, 98, 70, 112]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "In2"
Position [480, 168, 510, 182]
Orientation "left"
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Fcn
Name "Fh"
Position [405, 200, 465, 230]
Orientation "left"
Expr "30*sin(0.0001*u)"
Port {
PortNumber 1
Name "Fh"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Fcn
Name "Fw"
Position [330, 150, 390, 180]
Orientation "left"
Expr "0.001*(u[1]+20*sin(0.01*u[2]))^2"
Port {
PortNumber 1
Name "Fw"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Gain"
Position [335, 75, 385, 105]
Gain "0.01"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "x''"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [420, 75, 450, 105]
IgnoreLimit off
Port {
PortNumber 1
Name "x'"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [500, 75, 530, 105]
IgnoreLimit off
Port {
PortNumber 1
Name "x"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType MinMax
Name "Low Limits"
Ports [2, 1]
Position [210, 23, 240, 107]
Function "max"
Inputs "2"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Constant
Name "Max Brake"
Position [150, 30, 180, 60]
Value "-2000"
}
Block {
BlockType Constant
Name "Max Thrust"
Position [20, 50, 50, 80]
Value "1000"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [450, 146, 455, 184]
Orientation "left"
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [280, 52, 300, 128]
ShowName off
Inputs "+--"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType MinMax
Name "Up Limits"
Ports [2, 1]
Position [95, 43, 125, 127]
Function "min"
Inputs "2"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Out1"
Position [460, 55, 490, 70]
Orientation "up"
IconDisplay "Port number"
}
Line {
Name "Fh"
Labels [3, 0]
SrcBlock "Fh"
SrcPort 1
Points [-145, 0; 0, -125]
DstBlock "Sum"
DstPort 2
}
Line {
Name "Fw"
Labels [2, 1]
SrcBlock "Fw"
SrcPort 1
Points [-60, 0]
DstBlock "Sum"
DstPort 3
}
Line {
Name "x"
Labels [0, 0]
SrcBlock "Integrator1"
SrcPort 1
Points [15, 0; 0, 125]
DstBlock "Fh"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [-40, 0]
DstBlock "Fw"
DstPort 1
}
Line {
Name "x'"
Labels [0, 0]
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
DstBlock "Out1"
DstPort 1
}
Branch {
DstBlock "Mux"
DstPort 1
}
}
Line {
Name "x''"
Labels [0, 0]
SrcBlock "Gain"
SrcPort 1
Points [0, 0]
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [15, 0]
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Low Limits"
SrcPort 1
Points [0, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Up Limits"
SrcPort 1
Points [65, 0]
DstBlock "Low Limits"
DstPort 2
}
Line {
SrcBlock "Max Brake"
SrcPort 1
Points [10, 0]
DstBlock "Low Limits"
DstPort 1
}
Line {
SrcBlock "Max Thrust"
SrcPort 1
Points [0, 0]
DstBlock "Up Limits"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Up Limits"
DstPort 2
}
Line {
SrcBlock "In2"
SrcPort 1
Points [0, 0]
DstBlock "Mux"
DstPort 2
}
Annotation {
Name "Fe"
Position [258, 58]
UseDisplayTextAsClickCallback off
}
}
}
Block {
BlockType Clock
Name "Clock in"
Position [315, 205, 335, 225]
Decimation "10"
}
Block {
BlockType Constant
Name "Constant"
Position [235, 275, 265, 305]
Orientation "left"
}
Block {
BlockType SubSystem
Name "Control subsystem"
Ports [2, 1]
Position [185, 119, 285, 161]
FontSize 10
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
System {
Name "Control subsystem"
Location [433, 403, 931, 703]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [95, 68, 125, 82]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "In2"
Position [95, 98, 125, 112]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Gain
Name "Ke"
Position [185, 75, 215, 105]
Gain "50"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "Fc"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [140, 59, 160, 121]
ShowName off
Inputs "-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Out1"
Position [240, 83, 270, 97]
IconDisplay "Port number"
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [5, 0]
DstBlock "Ke"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
Name "Fc"
Labels [0, 0]
SrcBlock "Ke"
SrcPort 1
Points [0, 0]
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
Points [0, 0]
DstBlock "Sum1"
DstPort 2
}
}
}
Block {
BlockType Display
Name "Display"
Ports [1]
Position [420, 280, 510, 310]
Orientation "left"
Decimation "1"
Lockdown off
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [580, 279, 610, 311]
Floating off
Location [294, 251, 618, 490]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "55"
YMax "65"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Reference
Name "Slider Gain"
Ports [1, 1]
Position [115, 272, 180, 308]
Orientation "left"
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels on
low "0"
gain "62.5"
high "100"
Port {
PortNumber 1
Name "xc'"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Line {
Labels [0, 0]
SrcBlock "Control subsystem"
SrcPort 1
DstBlock "Car's subsystem"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Car's subsystem"
SrcPort 1
Points [35, 0; 0, 0]
Branch {
Points [0, 145]
Branch {
DstBlock "Display"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Branch {
Points [0, -65; -460, 0; 0, 45]
DstBlock "Control subsystem"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Slider Gain"
DstPort 1
}
Line {
Name "xc'"
Labels [0, 0]
SrcBlock "Slider Gain"
SrcPort 1
Points [-25, 0; 0, -140]
DstBlock "Control subsystem"
DstPort 2
}
Line {
SrcBlock "Clock in"
SrcPort 1
Points [25, 0; 0, -55]
DstBlock "Car's subsystem"
DstPort 2
}
Annotation {
Name "x'"
Position [522, 144]
UseDisplayTextAsClickCallback off
}
}
}
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