neurul_pendulum.mdl

一级倒立摆的模糊控制与神经网络控制。Simulink仿真环境。使用说明：在使用模糊控制时先把*.fis导入workspace

      DisplayOption	      "none"
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Trigonometry
      Operator		      "sin"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "neurul_pendulum"
    Location		    [273, 238, 1240, 710]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 4]
      Position		      [595, 171, 600, 274]
      BackgroundColor	      "black"
      ShowName		      off
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [4, 1]
      Position		      [545, 171, 550, 274]
      ShowName		      off
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Neural Network"
      Ports		      [1, 1]
      Position		      [295, 205, 355, 245]
      BackgroundColor	      "lightBlue"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"Neural Network"
	Location		[480, 85, 1060, 386]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "p{1}"
	  Position		  [40, 40, 60, 60]
	  ForegroundColor	  "white"
	  BackgroundColor	  "[1.000000, 0.000000, 1.000000]"
	  Port			  "1"
	  IconDisplay		  "Port number"
	  PortDimensions	  "4"
	  LatchInput		  off
	}
	Block {
	  BlockType		  From
	  Name			  " a{1} "
	  Position		  [40, 95, 60, 115]
	  DialogController	  "Simulink.DDGSource"
	  GotoTag		  "feedback1"
	  MaskDisplay		  "plot(cos(0:.1:2*pi),sin(0:.1:2*pi))"
	  MaskIconFrame		  off
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	}
	Block {
	  BlockType		  From
	  Name			  " a{2} "
	  Position		  [40, 160, 60, 180]
	  DialogController	  "Simulink.DDGSource"
	  GotoTag		  "feedback2"
	  MaskDisplay		  "plot(cos(0:.1:2*pi),sin(0:.1:2*pi))"
	  MaskIconFrame		  off
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Layer 1"
	  Ports			  [1, 1]
	  Position		  [190, 40, 250, 60]
	  BackgroundColor	  "lightBlue"
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  System {
	    Name		    "Layer 1"
	    Location		    [480, 85, 1060, 386]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "p{1}"
	      Position		      [40, 40, 60, 60]
	      BackgroundColor	      "magenta"
	      Port		      "1"
	      IconDisplay	      "Port number"
	      PortDimensions	      "4"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Delays 1"
	      Ports		      [1, 1]
	      Position		      [100, 40, 120, 60]
	      BackgroundColor	      "lightBlue"
	      TreatAsAtomicUnit	      off
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      MaskDisplay	      "disp('TDL')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"Delays 1"
		Location		[480, 85, 1060, 386]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"A4"
		PaperUnits		"centimeters"
		ZoomFactor		"100"
		Block {
		  BlockType		  Inport
		  Name			  "p{1}"
		  Position		  [60, 40, 80, 60]
		  Orientation		  "down"
		  BackgroundColor	  "magenta"
		  NamePlacement		  "alternate"
		  Port			  "1"
		  IconDisplay		  "Port number"
		  PortDimensions	  "4"
		  LatchInput		  off
		}
		Block {
		  BlockType		  Mux
		  Name			  "mux"
		  Ports			  [1, 1]
		  Position		  [200, 60, 240, 80]
		  BackgroundColor	  "lightBlue"
		  Inputs		  "1"
		}
		Block {
		  BlockType		  Outport
		  Name			  "pd{1,1}"
		  Position		  [300, 60, 320, 80]
		  BackgroundColor	  "magenta"
		  IconDisplay		  "Port number"
		  BusOutputAsStruct	  off
		}
		Line {
		  SrcBlock		  "p{1}"
		  SrcPort		  1
		  DstBlock		  "mux"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "mux"
		  SrcPort		  1
		  DstBlock		  "pd{1,1}"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "IW{1,1}"
	      Ports		      [1, 1]
	      Position		      [160, 40, 200, 60]
	      BackgroundColor	      "lightBlue"
	      TreatAsAtomicUnit	      off
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      MaskDisplay	      "disp('weight')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      System {
		Name			"IW{1,1}"
		Location		[480, 85, 1060, 386]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"A4"
		PaperUnits		"centimeters"
		ZoomFactor		"100"
		Block {
		  BlockType		  Inport
		  Name			  "pd{1,1}"
		  Position		  [40, 150, 60, 170]
		  BackgroundColor	  "magenta"
		  Port			  "1"
		  IconDisplay		  "Port number"
		  PortDimensions	  "4"
		  LatchInput		  off
		}
		Block {
		  BlockType		  Constant
		  Name			  "IW{1,1}(1,:)'"
		  Position		  [140, 40, 180, 60]
		  BackgroundColor	  "lightBlue"
		  Value			  "[-1.0796936584534245;-0.54962227997"
"359714;2.3573278653220697;0.12227303939358958]"
		  MaskDisplay		  "disp('weights')"
		  MaskIconFrame		  on
		  MaskIconOpaque	  on
		  MaskIconRotate	  "none"
		  MaskIconUnits		  "autoscale"
		}
		Block {
		  BlockType		  Constant
		  Name			  "IW{1,1}(2,:)'"
		  Position		  [140, 100, 180, 120]
		  BackgroundColor	  "lightBlue"
		  Value			  "[-1.050969300455568;-1.330130191503"
"0315;-4.7557536597264676;-2.0753989947069993]"
		  MaskDisplay		  "disp('weights')"
		  MaskIconFrame		  on
		  MaskIconOpaque	  on
		  MaskIconRotate	  "none"
		  MaskIconUnits		  "autoscale"
		}
		Block {
		  BlockType		  Constant
		  Name			  "IW{1,1}(3,:)'"
		  Position		  [140, 160, 180, 180]
		  BackgroundColor	  "lightBlue"
		  Value			  "[-1.0182209102455531;-0.56981980032"
"903301;-0.62181494477299448;1.4200638312942866]"
		  MaskDisplay		  "disp('weights')"
		  MaskIconFrame		  on
		  MaskIconOpaque	  on
		  MaskIconRotate	  "none"
		  MaskIconUnits		  "autoscale"
		}
		Block {
		  BlockType		  Constant
		  Name			  "IW{1,1}(4,:)'"
		  Position		  [140, 220, 180, 240]
		  BackgroundColor	  "lightBlue"
		  Value			  "[0.28487105135746976;1.181810019795"
"8072;1.4241421842574982;0.73544464743352245]"
		  MaskDisplay		  "disp('weights')"
		  MaskIconFrame		  on
		  MaskIconOpaque	  on
		  MaskIconRotate	  "none"
		  MaskIconUnits		  "autoscale"
		}
		Block {
		  BlockType		  Mux
		  Name			  "Mux"
		  Ports			  [4, 1]
		  Position		  [340, 152, 380, 173]
		}
		Block {
		  BlockType		  Reference
		  Name			  "dotprod1"
		  Ports			  [2, 1]
		  Position		  [240, 40, 260, 80]
		  BackgroundColor	  "lightBlue"
		  SourceBlock		  "neural/Weight Functions/dotprod"
		  SourceType		  "Unknown"
		  ShowPortLabels	  "on"
		}
		Block {
		  BlockType		  Reference
		  Name			  "dotprod2"
		  Ports			  [2, 1]
		  Position		  [240, 100, 260, 140]
		  BackgroundColor	  "lightBlue"
		  SourceBlock		  "neural/Weight Functions/dotprod"
		  SourceType		  "Unknown"
		  ShowPortLabels	  "on"
		}
		Block {
		  BlockType		  Reference
		  Name			  "dotprod3"
		  Ports			  [2, 1]
		  Position		  [240, 160, 260, 200]
		  BackgroundColor	  "lightBlue"
		  SourceBlock		  "neural/Weight Functions/dotprod"
		  SourceType		  "Unknown"
		  ShowPortLabels	  "on"
		}
		Block {
		  BlockType		  Reference
		  Name			  "dotprod4"
		  Ports			  [2, 1]
		  Position		  [240, 220, 260, 260]
		  BackgroundColor	  "lightBlue"
		  SourceBlock		  "neural/Weight Functions/dotprod"
		  SourceType		  "Unknown"
		  ShowPortLabels	  "on"
		}
		Block {
		  BlockType		  Outport
		  Name			  "iz{1,1}"
		  Position		  [420, 155, 440, 175]
		  BackgroundColor	  "magenta"
		  IconDisplay		  "Port number"
		  BusOutputAsStruct	  off
		}
		Line {
		  SrcBlock		  "IW{1,1}(1,:)'"
		  SrcPort		  1
		  DstBlock		  "dotprod1"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "pd{1,1}"
		  SrcPort		  1
		  Points		  [0, 0]
		  Branch {
		    DstBlock		    "dotprod1"
		    DstPort		    2
		  }
		  Branch {
		    DstBlock		    "dotprod2"
		    DstPort		    2
		  }
		  Branch {
		    DstBlock		    "dotprod3"
		    DstPort		    2
		  }
		  Branch {
		    DstBlock		    "dotprod4"
		    DstPort		    2
		  }
		}
		Line {
		  SrcBlock		  "dotprod1"
		  SrcPort		  1
		  DstBlock		  "Mux"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "IW{1,1}(2,:)'"
		  SrcPort		  1
		  DstBlock		  "dotprod2"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "dotprod2"
		  SrcPort		  1
		  DstBlock		  "Mux"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "IW{1,1}(3,:)'"
		  SrcPort		  1
		  DstBlock		  "dotprod3"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "dotprod3"
		  SrcPort		  1
		  DstBlock		  "Mux"
		  DstPort		  3
		}
		Line {
		  SrcBlock		  "IW{1,1}(4,:)'"
		  SrcPort		  1
		  DstBlock		  "dotprod4"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "dotprod4"
		  SrcPort		  1
		  DstBlock		  "Mux"
		  DstPort		  4
		}
		Line {
		  SrcBlock		  "Mux"
		  SrcPort		  1
		  DstBlock		  "iz{1,1}"
		  DstPort		  1