chap6_9sim.mdl

机器人控制仿真程序一书的所有源代码

      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux4"
      Ports		      [2, 1]
      Position		      [765, 328, 775, 377]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux5"
      Ports		      [2, 1]
      Position		      [750, 37, 760, 68]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function"
      Ports		      [1, 1]
      Position		      [455, 247, 535, 283]
      FunctionName	      "chap6_9plant"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function1"
      Ports		      [1, 1]
      Position		      [635, 242, 695, 278]
      FunctionName	      "chap6_9out"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function2"
      Ports		      [1, 1]
      Position		      [245, 129, 305, 161]
      FunctionName	      "chap6_9u1"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function3"
      Ports		      [1, 1]
      Position		      [355, 248, 425, 282]
      FunctionName	      "chap6_9ctrl"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave"
      Position		      [85, 205, 115, 235]
      SineType		      "Time based"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [800, 171, 830, 199]
      VariableName	      "x"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [795, 257, 825, 283]
      VariableName	      "y"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [785, 42, 815, 68]
      VariableName	      "v"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace4"
      Position		      [795, 342, 825, 368]
      VariableName	      "F"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace6"
      Position		      [475, 161, 505, 189]
      VariableName	      "u"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace7"
      Position		      [245, 459, 285, 491]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [790, 115, 820, 150]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "0"
      xmax		      "20"
      ymin		      "-3"
      ymax		      "1.5"
      st		      "-1"
    }
    Line {
      SrcBlock		      "S-Function"
      SrcPort		      1
      DstBlock		      "Demux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      1
      Points		      [0, 0; 25, 0]
      Branch {
	DstBlock		"Mux1"
	DstPort			1
      }
      Branch {
	Points			[0, -185; -420, 0; 0, 60]
	DstBlock		"Mux2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      3
      Points		      [5, 0]
      Branch {
	Points			[0, 120; -290, 0; 0, -70]
	DstBlock		"Mux3"
	DstPort			6
      }
      Branch {
	Points			[0, -15]
	DstBlock		"Mux1"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "S-Function1"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	Points			[0, 30]
	DstBlock		"Derivative"
	DstPort			1
      }
      Branch {
	DstBlock		"Mux2"
	DstPort			2
      }
      Branch {
	Points			[0, -100]
	DstBlock		"Mux5"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "Mux2"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "S-Function2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      Points		      [20, 0; 0, 75]
      Branch {
	DstBlock		"Mux4"
	DstPort			1
      }
      Branch {
	Points			[0, 80; -330, 0; 0, -110]
	DstBlock		"Mux3"
	DstPort			5
      }
    }
    Line {
      SrcBlock		      "S-Function3"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"S-Function"
	DstPort			1
      }
      Branch {
	Points			[0, -90]
	DstBlock		"To Workspace6"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "S-Function2"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Mux3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sine Wave"
      SrcPort		      1
      Points		      [0, 0; 20, 0]
      Branch {
	Points			[0, 0; 20, 0]
	Branch {
	  DstBlock		  "Mux3"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 30]
	  DstBlock		  "Derivative1"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 225; 600, 0; 0, -80]
	DstBlock		"Mux4"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Derivative1"
      SrcPort		      1
      Points		      [5, 0; 15, 0]
      Branch {
	DstBlock		"Mux3"
	DstPort			3
      }
      Branch {
	Points			[0, 30]
	DstBlock		"Derivative2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Derivative2"
      SrcPort		      1
      DstBlock		      "Mux3"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "S-Function3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "S-Function1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace7"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux4"
      SrcPort		      1
      DstBlock		      "To Workspace4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [25, 0; 15, 0]
      Branch {
	DstBlock		"To Workspace1"
	DstPort			1
      }
      Branch {
	Points			[0, -130]
	DstBlock		"XY Graph"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [20, 0; 0, -75]
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"XY Graph"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Mux5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux5"
      SrcPort		      1
      DstBlock		      "To Workspace2"
      DstPort		      1
    }
  }
}