chap9_4sim.mdl

机器人控制仿真程序一书的所有源代码

      Name		      "Mux5"
      Ports		      [2, 1]
      Position		      [360, 182, 385, 238]
      Inputs		      "2"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux6"
      Ports		      [4, 1]
      Position		      [475, 384, 500, 441]
    }
    Block {
      BlockType		      Mux
      Name		      "Mux7"
      Ports		      [4, 1]
      Position		      [800, 166, 830, 219]
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function"
      Ports		      [1, 1]
      Position		      [405, 190, 485, 230]
      FunctionName	      "chap9_4ctrl"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function1"
      Ports		      [1, 1]
      Position		      [600, 191, 690, 229]
      FunctionName	      "chap9_4plant"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function2"
      Ports		      [1, 1]
      Position		      [620, 372, 690, 408]
      FunctionName	      "chap9_4ndo"
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Signal\nGenerator"
      Position		      [85, 145, 115, 175]
      Frequency		      "0.1"
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Signal\nGenerator1"
      Position		      [90, 240, 120, 270]
      Frequency		      "0.1"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [510, 200, 530, 220]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [215, 368, 245, 392]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [755, 369, 790, 411]
      VariableName	      "dp"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [945, 218, 970, 262]
      VariableName	      "d"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [250, 112, 280, 138]
      VariableName	      "r"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace4"
      Position		      [900, 139, 925, 181]
      VariableName	      "x"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Line {
      SrcBlock		      "Signal\nGenerator"
      SrcPort		      1
      Points		      [20, 0; 0, 30]
      DstBlock		      "Mux2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Signal\nGenerator1"
      SrcPort		      1
      Points		      [15, 0; 0, -15]
      DstBlock		      "Mux2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "S-Function2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function2"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"To Workspace1"
	DstPort			1
      }
      Branch {
	Points			[0, -110]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[20, 0]
	Branch {
	  Points		  [0, 35]
	  DstBlock		  "Derivative1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -35]
	  DstBlock		  "Mux4"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, -90]
	DstBlock		"To Workspace3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux5"
      SrcPort		      1
      DstBlock		      "S-Function"
      DstPort		      1
    }
    Line {
      Labels		      [0, 0]
      SrcBlock		      "Mux4"
      SrcPort		      1
      DstBlock		      "Mux5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative1"
      SrcPort		      1
      Points		      [10, 0]
      DstBlock		      "Mux4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux6"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [-210, 0; 0, -80]
      DstBlock		      "Mux6"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [-235, 0; 0, -80]
      DstBlock		      "Mux6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [-185, 0; 0, -80]
      DstBlock		      "Mux6"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      4
      Points		      [-155, 0; 0, -80]
      DstBlock		      "Mux6"
      DstPort		      4
    }
    Line {
      SrcBlock		      "S-Function1"
      SrcPort		      1
      DstBlock		      "Demux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      1
      DstBlock		      "Mux7"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      DstBlock		      "Mux7"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      3
      DstBlock		      "Mux7"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      4
      DstBlock		      "Mux7"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Mux7"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, 130]
	Branch {
	  Points		  [0, 170]
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Branch {
	  Points		  [-500, 0]
	  DstBlock		  "Mux5"
	  DstPort		  2
	}
      }
      Branch {
	Points			[0, -35]
	DstBlock		"To Workspace4"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      5
      DstBlock		      "Mux3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      6
      DstBlock		      "Mux3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "To Workspace2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		"S-Function1"
	DstPort			1
      }
      Branch {
	Points			[0, 155]
	DstBlock		"Mux1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [-85, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
  }
}