c6fmech1.mdl

基于MATLAB_Simulink的系统仿真技术与应用大家可以学习下

      Description	      "Mechanical Blockset"
      Ports		      [1, 0, 0, 0, 0, 0, 1]
      Position		      [135, 210, 175, 250]
      Orientation	      "left"
      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Actuator"
      SourceType	      "msb"
      PortType		      "blob"
      PhysicalDomain	      "Mechanical"
      ActuationStyle	      "Motion"
      AngleUnits	      "deg"
      ArcVelocityUnits	      "deg/s"
      ArcAccelerationUnits    "deg/s?"
      CoordPositionUnits      "m"
      VelocityUnits	      "m/s"
      AccelerationUnits	      "m/s?"
      ForceUnits	      "N"
      TorqueUnits	      "N-m"
      ClassName		      "JointActuator"
      DialogClass	      "MechanicalActuatorBlock"
      Primitive		      "R1"
      ReferenceFrame	      "Absolute (INERTIAL)"
    }
    Block {
      BlockType		      Reference
      Name		      "Joint Sensor"
      Tag		      "__orphan__"
      Description	      "Mechanical Blockset"
      Ports		      [0, 2, 0, 0, 0, 1]
      Position		      [330, 130, 370, 170]
      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sensor"
      SourceType	      "msb"
      PortType		      "blob"
      PhysicalDomain	      "Mechanical"
      Muxed		      "off"
      Pose		      "off"
      Angle		      "on"
      AngleUnits	      "deg"
      ArcVelocity	      "off"
      ArcVelocityUnits	      "deg/s"
      ArcAcceleration	      "on"
      ArcAccelerationUnits    "deg/s^2"
      CoordPosition	      "on"
      CoordPositionUnits      "m"
      Velocity		      "off"
      VelocityUnits	      "m/s"
      Acceleration	      "off"
      AccelerationUnits	      "m/s^2"
      Quaternion	      "on"
      QuaternionDT	      "off"
      QuaternionDDT	      "off"
      QuaternionUnits	      "off"
      OutputVector	      "[ 1 1 ]"
      ClassName		      "JointSensor"
      DialogClass	      "MechanicalSensorBlock"
      Primitive		      "R1"
      Force		      "off"
      ForceUnits	      "N"
      Torque		      "off"
      TorqueUnits	      "N-m"
      ReferenceFrame	      "Absolute (INERTIAL)"
      ReactionSensedSide      "Base"
      ReactionReferenceFrame  "Absolute (World)"
      ReactionForce	      "off"
      ReactionForceUnits      "N"
      ReactionMoment	      "off"
      ReactionMomentUnits     "N-m"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute A"
      Tag		      "Factory generic"
      Description	      "Mechanical Blockset"
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [41, 165, 94, 215]
      Orientation	      "up"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "msb"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      PortType		      "blob"
      LConnTagsString	      "__newl0|SA1"
      RConnTagsString	      "__newr0"
      NumSAPorts	      "1"
      CutJoint		      "off"
      Primitives	      "revolute"
      PrimitiveProps	      "R1$WORLD$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute B"
      Tag		      "Factory generic"
      Description	      "Mechanical Blockset"
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [120, 15, 170, 65]
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "msb"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      PortType		      "blob"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      NumSAPorts	      "0"
      CutJoint		      "off"
      Primitives	      "revolute"
      PrimitiveProps	      "R1$INERTIAL$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute C"
      Tag		      "Factory generic"
      Description	      "Mechanical Blockset"
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [340, 27, 390, 78]
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "msb"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      PortType		      "blob"
      LConnTagsString	      "__newl0|SA1"
      RConnTagsString	      "__newr0"
      NumSAPorts	      "1"
      CutJoint		      "off"
      Primitives	      "revolute"
      PrimitiveProps	      "R1$WORLD$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute D"
      Tag		      "Factory generic"
      Description	      "Mechanical Blockset"
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [445, 180, 495, 220]
      Orientation	      "down"
      NamePlacement	      "alternate"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "msb"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      PortType		      "blob"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      NumSAPorts	      "0"
      CutJoint		      "off"
      Primitives	      "revolute"
      PrimitiveProps	      "R1$INERTIAL$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [2]
      Position		      [390, 130, 420, 170]
      Floating		      off
      Location		      [188, 365, 500, 709]
      Open		      off
      NumInputPorts	      "2"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
	axes2			""
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5~-5"
      YMax		      "5~5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave"
      Position		      [215, 215, 245, 245]
      Orientation	      "left"
      SineType		      "Time-based"
      Amplitude		      "1"
      Bias		      "0"
      Frequency		      "1"
      Phase		      "0"
      Samples		      "10"
      Offset		      "0"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Ground"
      RSrcPort		      1
      DstBlock		      "Revolute A"
      LDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute A"
      RSrcPort		      1
      DstBlock		      "Body AB"
      LDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body AB"
      RSrcPort		      1
      Points		      [0, -5]
      DstBlock		      "Revolute B"
      LDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute B"
      RSrcPort		      1
      DstBlock		      "Body BC"
      LDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body BC"
      RSrcPort		      1
      DstBlock		      "Revolute C"
      LDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute C"
      RSrcPort		      1
      DstBlock		      "Body CD"
      LDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute D"
      LSrcPort		      1
      DstBlock		      "Body CD"
      RDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Ground1"
      RSrcPort		      1
      DstBlock		      "Revolute D"
      RDstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute C"
      LSrcPort		      2
      Points		      [-10, 0]
      DstBlock		      "Joint Sensor"
      LDstPort		      1
    }
    Line {
      SrcBlock		      "Joint Sensor"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Joint Actuator"
      RSrcPort		      1
      DstBlock		      "Revolute A"
      LDstPort		      2
    }
    Line {
      SrcBlock		      "Sine Wave"
      SrcPort		      1
      DstBlock		      "Joint Actuator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Joint Sensor"
      SrcPort		      2
      DstBlock		      "Scope"
      DstPort		      2
    }
    Annotation {
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      FontWeight	      "bold"
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  }
}