chap7_6sim.mdl

机器人控制仿真程序一书的所有源代码

      Name		      "Pulse\nGenerator"
      Position		      [45, 413, 90, 447]
      PulseType		      "Time based"
      Amplitude		      "50"
      Period		      "10"
      PulseWidth	      "50"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [150, 420, 170, 440]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [445, 440, 465, 460]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [780, 250, 825, 280]
      VariableName	      "fs"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [700, 461, 725, 489]
      VariableName	      "xm"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [155, 340, 190, 370]
      VariableName	      "fm"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [780, 179, 820, 211]
      VariableName	      "xs"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace4"
      Position		      [185, 230, 210, 260]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace5"
      Position		      [595, 104, 640, 136]
      VariableName	      "tols"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace6"
      Position		      [545, 580, 595, 610]
      VariableName	      "tolm"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace7"
      Position		      [590, 277, 625, 303]
      VariableName	      "s"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "master"
      Ports		      [1, 1]
      Position		      [530, 513, 615, 547]
      FunctionName	      "chap7_6master"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "slave"
      Ports		      [1, 1]
      Position		      [555, 209, 645, 241]
      FunctionName	      "chap7_6slave"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "sliddingmode"
      Ports		      [1, 1]
      Position		      [410, 219, 480, 251]
      FunctionName	      "chap7_6smc"
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "sliddingmode"
      DstPort		      1
    }
    Line {
      SrcBlock		      "slave"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      Labels		      [3, 0]
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [5, 0; 0, -35; -45, 0]
      Branch {
	Points			[-305, 0; 0, 30]
	DstBlock		"Mux2"
	DstPort			1
      }
      Branch {
	Points			[0, 15]
	DstBlock		"To Workspace3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [15, 0; 0, -65; -380, 0; 0, 65]
      DstBlock		      "Mux2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [15, 0; 0, 30; 55, 0]
      Branch {
	Points			[0, 365; -590, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      1
      Points		      [10, 0; 5, 0]
      Branch {
	DstBlock		"slave"
	DstPort			1
      }
      Branch {
	Points			[0, -105]
	DstBlock		"To Workspace5"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      Points		      [15, 0; 0, 45]
      DstBlock		      "To Workspace7"
      DstPort		      1
    }
    Line {
      SrcBlock		      "sliddingmode"
      SrcPort		      1
      DstBlock		      "Demux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "master"
      SrcPort		      1
      Points		      [10, 0; 0, -45]
      Branch {
	Points			[0, -115; -290, 0; 0, -115]
	DstBlock		"Mux2"
	DstPort			4
      }
      Branch {
	DstBlock		"Demux2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "PIDFcontrol"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, -15]
	Branch {
	  DstBlock		  "Mux3"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -65]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 65]
	DstBlock		"To Workspace6"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "PIDFcontrol"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [10, 0; 0, 40]
      Branch {
	Points			[95, 0]
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	Points			[0, 35]
	Branch {
	  Points		  [0, 0]
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 50]
	  DstBlock		  "Derivative"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Demux2"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pulse\nGenerator"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, -75]
	DstBlock		"To Workspace2"
	DstPort			1
      }
      Branch {
	Points			[0, 180; 175, 0]
	Branch {
	  DstBlock		  "Mux"
	  DstPort		  4
	}
	Branch {
	  Points		  [150, 0; 0, -65; 25, 0]
	  Branch {
	    DstBlock		    "Mux3"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Sum1"
	    DstPort		    2
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "master"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      Points		      [15, 0; 0, -20]
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [125, 0; 0, -60; -280, 0; 0, -150]
      DstBlock		      "Mux2"
      DstPort		      3
    }
  }
}