📄 pvtol2.mdl
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NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "polozaj po x"
Ports [1]
Position [480, 169, 510, 201]
Location [542, 73, 855, 349]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveToWorkspace on
SaveName "ScopeData1"
DataFormat "StructureWithTime"
}
Block {
BlockType SubSystem
Name "sigma 11"
Ports [1, 1]
Position [305, 92, 385, 128]
TreatAsAtomicUnit off
System {
Name "sigma 11"
Location [72, 207, 690, 551]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [80, 98, 110, 112]
}
Block {
BlockType Fcn
Name "Fcn"
Position [170, 30, 230, 60]
Expr "atan(15.7*(u-0.1))/15.7+0.1"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [175, 145, 235, 175]
Expr "u"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [175, 225, 235, 255]
Expr "atan(15.7*(u+0.1))/15.7-0.1"
}
Block {
BlockType Switch
Name "Switch"
Position [275, 90, 305, 120]
Criteria "u2 > Threshold"
Threshold "0.1"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [430, 100, 460, 130]
Threshold "-0.1"
InputSameDT off
}
Block {
BlockType Scope
Name "brzina po x"
Ports [1]
Position [460, 204, 490, 236]
Location [6, 473, 369, 741]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveName "ScopeData2"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "Fcn sigma 11"
Position [485, 108, 515, 122]
}
Line {
SrcBlock "u"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Switch"
DstPort 2
}
Branch {
Points [0, 55]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, 30]
Branch {
Points [0, 50]
DstBlock "Fcn2"
DstPort 1
}
Branch {
Points [215, 0; 0, -75]
DstBlock "Switch1"
DstPort 2
}
}
}
Branch {
Points [0, -60]
DstBlock "Fcn"
DstPort 1
}
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [10, 0; 0, 50]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [10, 0; 0, -45]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "Switch1"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
Points [145, 0; 0, -115]
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Switch1"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Fcn sigma 11"
DstPort 1
}
Branch {
Points [0, 70; -30, 0; 0, 35]
DstBlock "brzina po x"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "sigma 12"
Ports [1, 1]
Position [535, 22, 605, 58]
TreatAsAtomicUnit off
System {
Name "sigma 12"
Location [136, 200, 760, 537]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [80, 108, 110, 122]
}
Block {
BlockType Fcn
Name "Fcn"
Position [170, 40, 230, 70]
Expr "atan(15.7*(u-0.5))/15.7+0.5"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [180, 155, 240, 185]
Expr "u"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [180, 235, 240, 265]
Expr "atan(15.7*(u+0.5))/15.7-0.5"
}
Block {
BlockType Switch
Name "Switch"
Position [275, 100, 305, 130]
Criteria "u2 > Threshold"
Threshold "0.5"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [430, 110, 460, 140]
Threshold "-0.5"
InputSameDT off
}
Block {
BlockType Scope
Name "sigma 12"
Ports [1]
Position [515, 174, 545, 206]
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData8"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "Fcn sigma 12"
Position [535, 118, 565, 132]
}
Line {
SrcBlock "u"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Switch"
DstPort 2
}
Branch {
Points [0, 55]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, 30]
Branch {
Points [0, 50]
DstBlock "Fcn2"
DstPort 1
}
Branch {
Points [215, 0; 0, -75]
DstBlock "Switch1"
DstPort 2
}
}
}
Branch {
Points [0, -60]
DstBlock "Fcn"
DstPort 1
}
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [10, 0; 0, 50]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [5, 0; 0, -45]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "Switch1"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
Points [140, 0; 0, -115]
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Switch1"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Fcn sigma 12"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "sigma 12"
DstPort 1
}
}
}
}
Block {
BlockType Outport
Name "r1"
Position [700, 33, 730, 47]
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; 50, 0]
Branch {
DstBlock "Sum3"
DstPort 2
}
Branch {
DstBlock "polozaj po x"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "r1"
DstPort 1
}
Line {
SrcBlock "sigma 12"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "sigma 11"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 70]
Branch {
Points [0, 75]
Branch {
Points [0, 70]
DstBlock "brzina po x"
DstPort 1
}
Branch {
DstBlock "Integrator1"
DstPort 1
}
}
Branch {
DstBlock "Sum3"
DstPort 1
}
}
Branch {
DstBlock "Sum1"
DstPort 1
}
}
Line {
SrcBlock "x sekund"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "sigma 11"
SrcPort 1
Points [70, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "sigma 12"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "promene po y"
Ports [1, 1]
Position [95, 132, 195, 188]
TreatAsAtomicUnit off
System {
Name "promene po y"
Location [12, 117, 847, 474]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "y sekund"
Position [15, 63, 45, 77]
}
Block {
BlockType Gain
Name "Gain"
Position [660, 55, 690, 85]
Gain "-1"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [105, 55, 135, 85]
InitialCondition "-2"
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [215, 220, 245, 250]
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [460, 60, 480, 80]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [270, 165, 290, 185]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Scope
Name "brzina po y"
Ports [1]
Position [365, 284, 395, 316]
Location [259, 91, 596, 349]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveName "ScopeData3"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "polozaj po y"
Ports [1]
Position [375, 219, 405, 251]
Location [391, 92, 727, 329]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
}
Block {
BlockType SubSystem
Name "sigma 21"
Ports [1, 1]
Position [340, 157, 410, 193]
TreatAsAtomicUnit off
System {
Name "sigma 21"
Location [183, 190, 777, 480]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [65, 88, 95, 102]
}
Block {
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