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📄 chap6_8sim.mdl

📁 机器人控制仿真程序一书的所有源代码
💻 MDL
📖 第 1 页 / 共 2 页
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      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function1"
      Ports		      [1, 1]
      Position		      [320, 273, 385, 307]
      FunctionName	      "chap6_8v"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function2"
      Ports		      [1, 1]
      Position		      [530, 315, 590, 345]
      FunctionName	      "chap6_8w"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave"
      Position		      [95, 220, 125, 250]
      SineType		      "Time based"
      Phase		      "pi/2"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave1"
      Position		      [95, 310, 125, 340]
      SineType		      "Time based"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [190, 187, 220, 223]
      ShowName		      off
      Inputs		      "|-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [220, 296, 245, 334]
      ShowName		      off
      Inputs		      "|-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [460, 282, 475, 318]
      ShowName		      off
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [590, 488, 620, 512]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [230, 104, 255, 136]
      VariableName	      "y1"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [645, 379, 675, 411]
      VariableName	      "w"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [605, 188, 635, 222]
      VariableName	      "v"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace4"
      Position		      [415, 90, 440, 120]
      VariableName	      "R"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace5"
      Position		      [375, 488, 400, 522]
      VariableName	      "y2"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace6"
      Position		      [845, 273, 870, 307]
      VariableName	      "Y"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph2"
      Ports		      [2]
      Position		      [850, 185, 880, 220]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "-1.5"
      xmax		      "1.5"
      ymin		      "-1.5"
      ymax		      "1.5"
      st		      "-1"
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      Name		      "x"
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Mux5"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	Branch {
	  Points		  [0, -40; -615, 0]
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -25]
	    DstBlock		    "Mux2"
	    DstPort		    2
	  }
	}
	Branch {
	  DstBlock		  "XY Graph2"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "S-Function1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Mux5"
	DstPort			2
      }
      Branch {
	Points			[0, 50]
	Branch {
	  Points		  [0, 95; -575, 0]
	  Branch {
	    Points		    [0, 30]
	    DstBlock		    "Mux3"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -150]
	    DstBlock		    "Sum1"
	    DstPort		    1
	  }
	}
	Branch {
	  Points		  [40, 0; 0, -160]
	  DstBlock		  "XY Graph2"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Sine Wave"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	Points			[30, 0]
	Branch {
	  Points		  [0, 25]
	  DstBlock		  "Derivative"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -20]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
      }
      Branch {
	Points			[0, -125; 30, 0]
	Branch {
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -20]
	  DstBlock		  "Mux6"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sine Wave1"
      SrcPort		      1
      Points		      [0, 0; 25, 0]
      Branch {
	Points			[45, 0]
	Branch {
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "Derivative1"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 190; 145, 0]
	Branch {
	  DstBlock		  "Mux3"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, -400]
	  DstBlock		  "Mux6"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Derivative1"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      4
    }
    Line {
      SrcBlock		      "S-Function1"
      SrcPort		      1
      DstBlock		      "Demux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      Points		      [10, 0]
      Branch {
	Points			[0, 55]
	DstBlock		"Derivative2"
	DstPort			1
      }
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "S-Function2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "To Workspace5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function2"
      SrcPort		      1
      Points		      [0, 0; 20, 0]
      Branch {
	Points			[-15, 0; 0, 65]
	DstBlock		"To Workspace2"
	DstPort			1
      }
      Branch {
	DstBlock		"Mux4"
	DstPort			2
      }
    }
    Line {
      Name		      "u1"
      Labels		      [0, 0]
      SrcBlock		      "Demux1"
      SrcPort		      1
      Points		      [10, 0; 0, -20; 135, 0]
      Branch {
	Points			[45, 0; 0, 50]
	DstBlock		"Mux4"
	DstPort			1
      }
      Branch {
	Points			[0, -55]
	DstBlock		"To Workspace3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux4"
      SrcPort		      1
      DstBlock		      "S-Function"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative2"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [5, 0; 0, 60; -325, 0; 0, -135]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux5"
      SrcPort		      1
      DstBlock		      "To Workspace6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux6"
      SrcPort		      1
      DstBlock		      "To Workspace4"
      DstPort		      1
    }
    Annotation {
      Position		      [603, 231]
    }
  }
}

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