📄 pvtol2.mdl
字号:
BlockType Fcn
Name "Fcn"
Position [150, 20, 210, 50]
Expr "atan(15.7*(u-0.2))/15.7+0.2"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [160, 135, 220, 165]
Expr "u"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [160, 215, 220, 245]
Expr "atan(15.7*(u+0.2))/15.7-0.2"
}
Block {
BlockType Switch
Name "Switch"
Position [255, 80, 285, 110]
Criteria "u2 > Threshold"
Threshold "0.2"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [410, 90, 440, 120]
Threshold "-0.2"
InputSameDT off
}
Block {
BlockType Scope
Name "sigma 21"
Ports [1]
Position [495, 189, 525, 221]
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData9"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "Fcn sigma 21"
Position [515, 98, 545, 112]
}
Line {
SrcBlock "u"
SrcPort 1
Points [25, 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 [15, 0]
Branch {
DstBlock "Fcn sigma 21"
DstPort 1
}
Branch {
Points [0, 100]
DstBlock "sigma 21"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "sigma 22"
Ports [1, 1]
Position [560, 52, 630, 88]
TreatAsAtomicUnit off
System {
Name "sigma 22"
Location [171, 157, 869, 504]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [90, 113, 120, 127]
}
Block {
BlockType Fcn
Name "Fcn"
Position [175, 45, 235, 75]
Expr "atan(15.7*(u-0.8))/15.7+0.8"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [185, 160, 245, 190]
Expr "u"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [185, 240, 245, 270]
Expr "atan(15.7*(u+0.8))/15.7-0.8"
}
Block {
BlockType Switch
Name "Switch"
Position [280, 105, 310, 135]
Threshold "0.8"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [435, 115, 465, 145]
Threshold "-0.8"
InputSameDT off
}
Block {
BlockType Scope
Name "sigma 22"
Ports [1]
Position [530, 229, 560, 261]
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData10"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "Fcn sigma 22"
Position [555, 123, 585, 137]
}
Line {
SrcBlock "u"
SrcPort 1
Points [25, 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 [25, 0]
Branch {
DstBlock "Fcn sigma 22"
DstPort 1
}
Branch {
Points [0, 115]
DstBlock "sigma 22"
DstPort 1
}
}
}
}
Block {
BlockType Outport
Name "r2"
Position [720, 63, 750, 77]
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, 105]
Branch {
Points [0, 60]
Branch {
Points [0, 65]
DstBlock "brzina po y"
DstPort 1
}
Branch {
DstBlock "Integrator1"
DstPort 1
}
}
Branch {
DstBlock "Sum3"
DstPort 1
}
}
Branch {
DstBlock "Sum1"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "polozaj po y"
DstPort 1
}
Branch {
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "sigma 21"
SrcPort 1
Points [55, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "r2"
DstPort 1
}
Line {
SrcBlock "sigma 22"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "y sekund"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "sigma 21"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "sigma 22"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "sigma 31"
Ports [1, 1]
Position [415, 327, 495, 363]
TreatAsAtomicUnit off
System {
Name "sigma 31"
Location [217, 164, 852, 554]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [70, 113, 100, 127]
}
Block {
BlockType Fcn
Name "Fcn"
Position [160, 45, 220, 75]
Expr "atan(15.7*(u-0.7))/15.7+0.7"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [170, 160, 230, 190]
Expr "u"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [170, 240, 230, 270]
Expr "atan(15.7*(u+0.7))/15.7-0.7"
}
Block {
BlockType Switch
Name "Switch"
Position [265, 105, 295, 135]
Criteria "u2 > Threshold"
Threshold "0.7"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [420, 115, 450, 145]
Threshold "-0.7"
InputSameDT off
}
Block {
BlockType Scope
Name "sigma 31"
Ports [1]
Position [505, 229, 535, 261]
Location [176, 214, 500, 453]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData11"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "Fcn sigma 31"
Position [560, 123, 590, 137]
}
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 [25, 0]
Branch {
DstBlock "Fcn sigma 31"
DstPort 1
}
Branch {
Points [0, 115]
DstBlock "sigma 31"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "sigma 32"
Ports [1, 1]
Position [630, 327, 710, 363]
TreatAsAtomicUnit off
System {
Name "sigma 32"
Location [220, 150, 861, 504]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [120, 93, 150, 107]
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -