📄 trackhu.mdl
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st "-1"
}
Block {
BlockType Constant
Name "alfa"
Position [655, 368, 685, 392]
Orientation "left"
Value "30"
}
Block {
BlockType Scope
Name "course"
Ports [1]
Position [1015, 273, 1045, 307]
Floating off
Location [5, 60, 1277, 761]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-70"
YMax "0"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Fcn
Name "f(y)"
Position [390, 530, 480, 560]
Orientation "left"
Expr "atan(0.0012*u(1))"
}
Block {
BlockType Constant
Name "k"
Position [435, 303, 465, 327]
Value "0.478"
}
Block {
BlockType Constant
Name "speed"
Position [635, 563, 665, 587]
Orientation "left"
Value "7.7"
}
Block {
BlockType Scope
Name "x"
Ports [1]
Position [920, 639, 950, 671]
Floating off
Location [5, 56, 1277, 757]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "y"
Ports [1]
Position [1055, 564, 1085, 596]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-1750"
YMax "500"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Line {
SrcBlock "Fcn"
SrcPort 1
DstBlock "Dot Product"
DstPort 1
}
Line {
Labels [2, 0]
SrcBlock "speed"
SrcPort 1
Points [0, 0; -20, 0]
Branch {
Points [0, -25]
DstBlock "Dot Product"
DstPort 2
}
Branch {
Points [0, 30]
DstBlock "Dot Product1"
DstPort 1
}
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock "Dot Product1"
DstPort 2
}
Line {
SrcBlock "Dot Product"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Dot Product1"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 0]
DstBlock "Integrator3"
DstPort 1
}
Branch {
Points [0, 55]
Branch {
DstBlock "Fcn2"
DstPort 1
}
Branch {
Labels [2, 0]
Points [0, 70; -230, 0]
Branch {
Points [0, -120]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, 80; -245, 0; 0, -75]
DstBlock "Mux"
DstPort 7
}
}
}
}
Line {
SrcBlock "Integrator3"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [10, 0; 0, -135]
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 25]
Branch {
Points [0, 190]
Branch {
Points [-120, 0]
DstBlock "Fcn"
DstPort 1
}
Branch {
Points [0, 85]
Branch {
Points [-120, 0]
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, 80; -680, 0; 0, -355]
DstBlock "Mux"
DstPort 4
}
}
}
Branch {
DstBlock "Mux1"
DstPort 2
}
}
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Dot Product3"
SrcPort 1
Points [0, 0]
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "Dot Product4"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Dot Product2"
DstPort 1
}
Line {
SrcBlock "alfa"
SrcPort 1
Points [0, 0; -10, 0]
Branch {
DstBlock "Dot Product2"
DstPort 2
}
Branch {
Points [0, 120; -355, 0]
DstBlock "Mux"
DstPort 8
}
}
Line {
Labels [2, 0]
SrcBlock "Dot Product2"
SrcPort 1
Points [0, -5; -75, 0; 0, -40]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; -5, 0]
Branch {
DstBlock "f(y)"
DstPort 1
}
Branch {
Points [0, 45; 360, 0]
Branch {
Points [0, -170]
DstBlock "XY Graph"
DstPort 2
}
Branch {
Points [0, 5; 100, 0]
Branch {
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Mux2"
DstPort 2
}
}
}
}
Line {
SrcBlock "k"
SrcPort 1
Points [0, 0; 0, -20]
Branch {
DstBlock "Dot Product4"
DstPort 2
}
Branch {
Points [-95, 0; 0, -145; -140, 0; 0, 90]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "T"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Fcn4"
DstPort 1
}
Branch {
Points [0, -35; -250, 0]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Fcn4"
SrcPort 1
Points [0, 70]
DstBlock "Dot Product3"
DstPort 1
}
Line {
SrcBlock "Kp"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Mux"
DstPort 6
}
Line {
SrcBlock "f(y)"
SrcPort 1
Points [-205, 0; 0, -200]
DstBlock "Mux"
DstPort 5
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fcn3"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [0, 0]
DstBlock "course"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [-25, 0; 0, 40; 350, 0]
Branch {
DstBlock "x"
DstPort 1
}
Branch {
Points [0, -250]
DstBlock "XY Graph"
DstPort 1
}
}
Line {
SrcBlock "Cr"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 0]
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, -25; -100, 0]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, 165; 50, 0]
DstBlock "Mux2"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [15, 0; 0, 20]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [5, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 0]
DstBlock "Derivative"
DstPort 1
}
Branch {
DstBlock "Integrator4"
DstPort 1
}
Branch {
Points [0, -40; 45, 0]
DstBlock "Gain3"
DstPort 1
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [10, 0; 0, 5]
DstBlock "Gain4"
DstPort 1
}
Line {
SrcBlock "Integrator4"
SrcPort 1
DstBlock "Gain5"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [0, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Gain4"
SrcPort 1
Points [0, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Gain5"
SrcPort 1
DstBlock "Sum4"
DstPort 3
}
Line {
SrcBlock "Fcn3"
SrcPort 1
Points [5, 0; 0, 55]
DstBlock "Manual Switch"
DstPort 1
}
Line {
SrcBlock "Manual Switch"
SrcPort 1
Points [0, -50; -50, 0; 0, -80]
DstBlock "Dot Product4"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 275; -870, 0; 0, -55]
DstBlock "Manual Switch"
DstPort 2
}
Line {
SrcBlock "Gain6"
SrcPort 1
DstBlock "Rudder angle"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [0, 0]
Branch {
Points [0, -120]
DstBlock "Gain6"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Sum6"
DstPort 2
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, -5]
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [0, 0]
DstBlock "y"
DstPort 1
}
Line {
SrcBlock "Band-Limited\nWhite Noise"
SrcPort 1
Points [20, 0; 0, 20]
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Sine Wave"
SrcPort 1
Points [20, 0; 0, -5]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "T1"
SrcPort 1
Points [30, 0; 0, -25]
DstBlock "Sum5"
DstPort 3
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Dot Product3"
DstPort 2
}
Line {
SrcBlock "Sum5"
SrcPort 1
Points [0, -70]
DstBlock "Manual Switch1"
DstPort 1
}
Line {
SrcBlock "Kp1"
SrcPort 1
Points [0, -100]
DstBlock "Manual Switch1"
DstPort 2
}
Line {
SrcBlock "Manual Switch1"
SrcPort 1
Points [0, 5; 340, 0]
DstBlock "Sum6"
DstPort 1
}
Annotation {
Name "PID"
Position [1119, 468]
UseDisplayTextAsClickCallback off
}
}
}
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