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📄 trackhu.mdl

📁 轨迹跟踪---船舶航迹控制
💻 MDL
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      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
    }
    Block {
      BlockType		      Sin
      SineType		      "Time based"
      TimeSource	      "Use simulation time"
      Amplitude		      "1"
      Bias		      "0"
      Frequency		      "1"
      Phase		      "0"
      Samples		      "10"
      Offset		      "0"
      SampleTime	      "-1"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    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		      Switch
      Criteria		      "u2 >= Threshold"
      Threshold		      "0"
      InputSameDT	      on
      OutDataTypeMode	      "Inherit via internal rule"
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
      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		    "trackHu"
    Location		    [7, 87, 1254, 720]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Reference
      Name		      "Band-Limited\nWhite Noise"
      Ports		      [0, 1]
      Position		      [75, 105, 105, 135]
      ShowName		      off
      SourceBlock	      "simulink/Sources/Band-Limited\nWhite Noise"
      SourceType	      "Band-Limited White Noise."
      ShowPortLabels	      on
      Cov		      "[0.1*pi/180]"
      Ts		      "0.1"
      seed		      "[23341]"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Constant
      Name		      "Cr"
      Position		      [910, 123, 940, 147]
      Value		      "0"
    }
    Block {
      BlockType		      Constant
      Name		      "Cr1"
      Position		      [740, 78, 770, 102]
      Value		      "0"
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [1135, 165, 1165, 195]
      ShowName		      off
    }
    Block {
      BlockType		      Reference
      Name		      "Dot Product"
      Ports		      [2, 1]
      Position		      [555, 527, 585, 558]
      Orientation	      "left"
      ShowName		      off
      SourceBlock	      "simulink/Math\nOperations/Dot Product"
      SourceType	      "Dot Product"
      InputSameDT	      on
      OutputDataTypeScalingMode	"Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^-10"
      LockScale		      off
      RndMeth		      "Floor"
      DoSatur		      off
    }
    Block {
      BlockType		      Reference
      Name		      "Dot Product1"
      Ports		      [2, 1]
      Position		      [555, 597, 585, 628]
      Orientation	      "left"
      ShowName		      off
      SourceBlock	      "simulink/Math\nOperations/Dot Product"
      SourceType	      "Dot Product"
      InputSameDT	      on
      OutputDataTypeScalingMode	"Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^-10"
      LockScale		      off
      RndMeth		      "Floor"
      DoSatur		      off
    }
    Block {
      BlockType		      Reference
      Name		      "Dot Product2"
      Ports		      [2, 1]
      Position		      [595, 332, 625, 363]
      Orientation	      "left"
      ShowName		      off
      SourceBlock	      "simulink/Math\nOperations/Dot Product"
      SourceType	      "Dot Product"
      InputSameDT	      on
      OutputDataTypeScalingMode	"Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^-10"
      LockScale		      off
      RndMeth		      "Floor"
      DoSatur		      off
    }
    Block {
      BlockType		      Reference
      Name		      "Dot Product3"
      Ports		      [2, 1]
      Position		      [655, 267, 685, 298]
      ShowName		      off
      SourceBlock	      "simulink/Math\nOperations/Dot Product"
      SourceType	      "Dot Product"
      InputSameDT	      on
      OutputDataTypeScalingMode	"Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^-10"
      LockScale		      off
      RndMeth		      "Floor"
      DoSatur		      off
    }
    Block {
      BlockType		      Reference
      Name		      "Dot Product4"
      Ports		      [2, 1]
      Position		      [485, 257, 515, 288]
      ShowName		      off
      SourceBlock	      "simulink/Math\nOperations/Dot Product"
      SourceType	      "Dot Product"
      InputSameDT	      on
      OutputDataTypeScalingMode	"Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^-10"
      LockScale		      off
      RndMeth		      "Floor"
      DoSatur		      off
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn"
      Position		      [615, 520, 675, 550]
      Orientation	      "left"
      ShowName		      off
      Expr		      "sin(u(1))"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn1"
      Position		      [615, 605, 675, 635]
      Orientation	      "left"
      ShowName		      off
      Expr		      "cos(u(1))"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn2"
      Position		      [650, 325, 710, 355]
      Orientation	      "left"
      ShowName		      off
      Expr		      "(u(1))^3"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn3"
      Position		      [345, 316, 390, 344]
      Expr		      "u(1)/u(2)*(-u(3)*(u(4)+u(5))-(u(6)-1/u(1))*u(7)"
"+u(8)/u(1)*u(7)^3)"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn4"
      Position		      [560, 191, 605, 219]
      Expr		      "1/u(1)"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [900, 275, 930, 305]
      Gain		      "180/pi"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [1005, 130, 1035, 160]
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [1005, 195, 1060, 225]
      Gain		      "0.002"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain3"
      Position		      [1175, 120, 1205, 150]
      Gain		      "3"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain4"
      Position		      [1190, 170, 1220, 200]
      Gain		      "50"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain5"
      Position		      [1185, 220, 1215, 250]
      Gain		      "0.02"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain6"
      Position		      [630, 155, 660, 185]
      Gain		      "180/pi"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [505, 530, 535, 560]
      Orientation	      "left"
      ShowName		      off
      InitialCondition	      "-1000"
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator1"
      Ports		      [1, 1]
      Position		      [510, 600, 540, 630]
      Orientation	      "left"
      ShowName		      off
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator2"
      Ports		      [1, 1]
      Position		      [700, 270, 730, 300]
      ShowName		      off
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator3"
      Ports		      [1, 1]
      Position		      [755, 270, 785, 300]
      ShowName		      off
      InitialCondition	      "160*pi/180"
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator4"
      Ports		      [1, 1]
      Position		      [1135, 220, 1165, 250]
      ShowName		      off
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Constant
      Name		      "Kd"
      Position		      [215, 363, 260, 387]
      Value		      "0.054"
    }
    Block {
      BlockType		      Constant
      Name		      "Kp"
      Position		      [210, 263, 255, 287]
      Value		      "0.0015"
    }
    Block {
      BlockType		      Constant
      Name		      "Kp1"
      Position		      [150, 193, 195, 217]
      Value		      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Manual Switch"
      Ports		      [2, 1]
      Position		      [425, 377, 455, 413]
      SourceBlock	      "simulink/Signal\nRouting/Manual Switch"
      SourceType	      "Manual Switch"
      ShowPortLabels	      on
      sw		      "1"
      action		      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Manual Switch1"
      Ports		      [2, 1]
      Position		      [225, 77, 255, 113]
      SourceBlock	      "simulink/Signal\nRouting/Manual Switch"
      SourceType	      "Manual Switch"
      ShowPortLabels	      on
      sw		      "0"
      action		      "0"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [8, 1]
      Position		      [300, 193, 325, 462]
      ShowName		      off
      Inputs		      "8"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [2, 1]
      Position		      [865, 267, 885, 323]
      ShowName		      off
      Inputs		      "2"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux2"
      Ports		      [2, 1]
      Position		      [1010, 552, 1030, 608]
      ShowName		      off
      Inputs		      "2"
    }
    Block {
      BlockType		      Scope
      Name		      "Rudder angle"
      Ports		      [1]
      Position		      [680, 154, 710, 186]
      Floating		      off
      Location		      [188, 390, 512, 629]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData3"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [560, 275, 585, 305]
      ShowName		      off
      UpperLimit	      "35*pi/180"
      LowerLimit	      "-35*pi/180"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave"
      Ports		      [0, 1]
      Position		      [75, 145, 105, 175]
      ShowName		      off
      SineType		      "Time based"
      Amplitude		      "0.0"
      Frequency		      "2*pi/400"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [895, 185, 925, 215]
      Time		      "0"
      After		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [3, 1]
      Position		      [535, 268, 545, 312]
      ShowName		      off
      Inputs		      "+--"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [965, 128, 985, 157]
      ShowName		      off
      Inputs		      "+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [970, 193, 990, 222]
      ShowName		      off
      Inputs		      "+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [1085, 152, 1105, 203]
      ShowName		      off
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [3, 1]
      Position		      [1235, 112, 1255, 258]
      ShowName		      off
      Inputs		      "+++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [3, 1]
      Position		      [165, 129, 185, 181]
      ShowName		      off
      Inputs		      "+++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum6"
      Ports		      [2, 1]
      Position		      [615, 283, 635, 312]
      ShowName		      off
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "T"
      Position		      [485, 193, 515, 217]
      Value		      "216"
    }
    Block {
      BlockType		      Constant
      Name		      "T1"
      Position		      [50, 183, 100, 207]
      ShowName		      off
      Value		      "1*pi/180"
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [910, 395, 940, 430]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      ShowPortLabels	      on
      xmin		      "-500"
      xmax		      "6000"
      ymin		      "-1000"
      ymax		      "200"

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