chap5_12sim.mdl

机器人控制仿真程序一书的所有源代码

	  Position		  [235, 115, 255, 135]
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [2, 1]
	  Position		  [230, 200, 250, 220]
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum4"
	  Ports			  [2, 1]
	  Position		  [230, 295, 250, 315]
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [660, 268, 690, 282]
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "Sum4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Discrete\nTransfer Fcn5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Discrete\nTransfer Fcn4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum4"
	  SrcPort		  1
	  DstBlock		  "Discrete\nTransfer Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete\nTransfer Fcn8"
	  SrcPort		  1
	  Points		  [69, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Discrete\nTransfer Fcn7"
	  SrcPort		  1
	  Points		  [65, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Discrete\nTransfer Fcn6"
	  SrcPort		  1
	  Points		  [79, 0; 1, 65]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete\nTransfer Fcn5"
	  SrcPort		  1
	  Points		  [40, 0]
	  Branch {
	    Points		    [0, 50; -135, 0]
	    DstBlock		    "Sum1"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Discrete\nTransfer Fcn6"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Discrete\nTransfer Fcn4"
	  SrcPort		  1
	  Points		  [40, 0]
	  Branch {
	    Points		    [0, 55; -140, 0]
	    DstBlock		    "Sum3"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Discrete\nTransfer Fcn7"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Discrete\nTransfer Fcn"
	  SrcPort		  1
	  Points		  [40, 0]
	  Branch {
	    Points		    [0, 60; -140, 0]
	    DstBlock		    "Sum4"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Discrete\nTransfer Fcn8"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    Points		    [490, 0]
	    DstBlock		    "Sum"
	    DstPort		    4
	  }
	  Branch {
	    Points		    [0, -85]
	    Branch {
	      Points		      [0, -95]
	      Branch {
		Points			[0, -85]
		DstBlock		"Gain"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Gain1"
		DstPort			1
	      }
	    }
	    Branch {
	      DstBlock		      "Gain2"
	      DstPort		      1
	    }
	  }
	}
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [260, 320, 290, 350]
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [260, 419, 310, 451]
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [265, 205, 295, 235]
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [840, 294, 865, 336]
      ShowName		      off
      Inputs		      "2"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave"
      Position		      [195, 320, 225, 350]
      SineType		      "Time based"
      Frequency		      "F2*2*pi"
      SampleTime	      "ts"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave1"
      Position		      [195, 420, 225, 450]
      SineType		      "Time based"
      Frequency		      "F3*2*pi"
      Phase		      "pi/2"
      SampleTime	      "ts"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave2"
      Position		      [195, 205, 225, 235]
      SineType		      "Time based"
      Frequency		      "F1*2*pi"
      SampleTime	      "ts"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [405, 315, 425, 335]
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [3, 1]
      Position		      [335, 315, 355, 335]
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+++"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1]
      Position		      [790, 190, 810, 210]
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [390, 488, 420, 522]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [880, 182, 915, 218]
      VariableName	      "e"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [900, 297, 935, 333]
      VariableName	      "y"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace4"
      Position		      [645, 217, 680, 253]
      VariableName	      "ut"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "To Workspace3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [0, 0; 10, 0]
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
      Branch {
	Points			[0, -125; 390, 0]
	Branch {
	  Points		  [0, 105]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Sum4"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      DstBlock		      "To Workspace2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "C1G"
      SrcPort		      1
      Points		      [0, 0; 70, 0]
      Branch {
	Points			[20, 0]
	Branch {
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Sum4"
	  DstPort		  2
	}
      }
      Branch {
	Points			[0, 115; -365, 0]
	DstBlock		"Sum2"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [29, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sine Wave"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sine Wave1"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum3"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Controller"
      SrcPort		      1
      Points		      [40, 0]
      Branch {
	DstBlock		"C1G"
	DstPort			1
      }
      Branch {
	Points			[0, -90]
	DstBlock		"To Workspace4"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sine Wave2"
      SrcPort		      1
      DstBlock		      "Gain2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [24, 0]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
  }
}