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📄 chap3_11sim.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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      ShowName		      off
      Inputs		      "2"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "Position"
      Position		      [880, 141, 920, 169]
      VariableName	      "x1"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
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      BlockType		      ToWorkspace
      Name		      "Position1"
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      VariableName	      "x2"
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      SaveFormat	      "Array"
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      BlockType		      ToWorkspace
      Name		      "Position2"
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      VariableName	      "d1"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
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    Block {
      BlockType		      ToWorkspace
      Name		      "Position3"
      Position		      [755, 426, 795, 454]
      VariableName	      "d2"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "Psition1"
      Position		      [360, 176, 400, 204]
      ShowName		      off
      VariableName	      "w"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "Psition2"
      Position		      [505, 181, 545, 209]
      ShowName		      off
      VariableName	      "u"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "Psition3"
      Position		      [590, 181, 630, 209]
      ShowName		      off
      VariableName	      "tol"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function"
      Ports		      [1, 1]
      Position		      [230, 263, 320, 297]
      FunctionName	      "chap3_11ctrl"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function1"
      Ports		      [1, 1]
      Position		      [580, 267, 695, 303]
      FunctionName	      "chap3_11plant"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function2"
      Ports		      [0, 1]
      Position		      [50, 212, 135, 248]
      FunctionName	      "chap3_11input"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function3"
      Ports		      [1, 1]
      Position		      [345, 383, 445, 417]
      FunctionName	      "chap3_11wnn"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [445, 265, 465, 285]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
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      OutDataTypeMode	      "Inherit via internal rule"
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    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [565, 345, 585, 365]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [120, 501, 165, 529]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
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      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, 80; -50, 0; 0, 25]
	DstBlock		"Mux6"
	DstPort			1
      }
      Branch {
	Points			[0, 0]
	Branch {
	  DstBlock		  "Demux1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -90]
	  DstBlock		  "Psition1"
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    Line {
      SrcBlock		      "Demux2"
      SrcPort		      1
      Points		      [5, 0; 0, -70]
      DstBlock		      "Mux1"
      DstPort		      2
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    Line {
      SrcBlock		      "S-Function2"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, -115]
	DstBlock		"Demux3"
	DstPort			1
      }
      Branch {
	DstBlock		"Mux"
	DstPort			1
      }
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    Line {
      SrcBlock		      "Demux2"
      SrcPort		      2
      DstBlock		      "Mux2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      1
      Points		      [505, 0]
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux3"
      SrcPort		      2
      Points		      [490, 0; 0, 135]
      DstBlock		      "Mux2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "S-Function1"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	Points			[0, 200; -560, 0; 0, -160]
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	DstBlock		"Demux2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      1
      DstBlock		      "Mux3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux1"
      SrcPort		      2
      DstBlock		      "Mux3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Dead Zone"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	Points			[0, 70]
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Points			[20, 0]
	Branch {
	  DstBlock		  "S-Function1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -90]
	  DstBlock		  "Psition3"
	  DstPort		  1
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      }
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [0, 0; 0, 10]
      Branch {
	Points			[10, 0]
	Branch {
	  DstBlock		  "Dead Zone"
	  DstPort		  1
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	Branch {
	  Points		  [0, 95]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, -90]
	  DstBlock		  "Psition2"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 165; -185, 0; 0, -40]
	DstBlock		"Mux6"
	DstPort			2
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      SrcBlock		      "S-Function3"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"Gain"
	DstPort			1
      }
      Branch {
	DstBlock		"Demux5"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux6"
      SrcPort		      1
      DstBlock		      "S-Function3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Position"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "Position1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "S-Function"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux5"
      SrcPort		      1
      DstBlock		      "Position2"
      DstPort		      1
    }
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      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Demux4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux4"
      SrcPort		      1
      Points		      [20, 0; 0, 20]
      DstBlock		      "Mux5"
      DstPort		      1
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    Line {
      SrcBlock		      "Demux5"
      SrcPort		      1
      Points		      [110, 0]
      DstBlock		      "Mux5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux4"
      SrcPort		      1
      DstBlock		      "Position3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux4"
      SrcPort		      2
      Points		      [5, 0; 0, 70]
      DstBlock		      "Mux4"
      DstPort		      1
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    Line {
      SrcBlock		      "Demux5"
      SrcPort		      2
      Points		      [25, 0; 0, 40]
      DstBlock		      "Mux4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
  }
}

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