📄 pvtol2.mdl
字号:
Block {
BlockType Fcn
Name "Fcn"
Position [210, 25, 270, 55]
Expr "atan(7.85*(u-1.8))/7.85+1.8"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [220, 140, 280, 170]
Expr "u"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [220, 220, 280, 250]
Expr "atan(7.85*(u+1.8))/7.85-1.8"
}
Block {
BlockType Switch
Name "Switch"
Position [315, 85, 345, 115]
Criteria "u2 > Threshold"
Threshold "1.8"
InputSameDT off
}
Block {
BlockType Switch
Name "Switch1"
Position [470, 95, 500, 125]
Threshold "-1.8"
InputSameDT off
}
Block {
BlockType Scope
Name "sigma 32"
Ports [1]
Position [565, 174, 595, 206]
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData12"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "Fcn sigma 32"
Position [585, 103, 615, 117]
}
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 32"
DstPort 1
}
Branch {
Points [0, 80]
DstBlock "sigma 32"
DstPort 1
}
}
}
}
Block {
BlockType Scope
Name "teta"
Ports [1]
Position [170, 574, 200, 606]
Orientation "left"
Location [227, 186, 551, 425]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData7"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "teta d"
Ports [1]
Position [555, 154, 585, 186]
Location [556, 186, 880, 425]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "teta d prim"
Ports [1]
Position [715, 154, 745, 186]
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData4"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "teta prim"
Ports [1]
Position [295, 574, 325, 606]
Orientation "left"
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "300"
SaveName "ScopeData6"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "u1"
Ports [1]
Position [575, 44, 605, 76]
Location [556, 189, 880, 428]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "60"
YMin "1.86443"
YMax "2.06069"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "u2"
Ports [1]
Position [950, 234, 980, 266]
Location [421, 95, 745, 334]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "60 "
YMin "-0.0573204"
YMax "-0.0518614"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
}
Line {
SrcBlock "promene po x"
SrcPort 1
Points [40, 0]
Branch {
DstBlock "Math\nFunction"
DstPort 1
}
Branch {
Points [0, 195]
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 0; 0, -40; -185, 0; 0, 40]
DstBlock "promene po x"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Math\nFunction1"
DstPort 1
}
Branch {
Points [0, 95]
DstBlock "Trigonometric\nFunction"
DstPort 2
}
}
Line {
SrcBlock "Math\nFunction1"
SrcPort 1
Points [25, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
Points [75, 0]
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Math\nFunction2"
DstPort 1
}
Line {
SrcBlock "Math\nFunction2"
SrcPort 1
DstBlock "u1"
DstPort 1
}
Line {
SrcBlock "promene po y"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 65; -160, 0; 0, -65]
DstBlock "promene po y"
DstPort 1
}
Branch {
DstBlock "Sum4"
DstPort 1
}
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -80]
DstBlock "teta d"
DstPort 1
}
Branch {
DstBlock "Derivative"
DstPort 1
}
Branch {
Labels [2, 0]
Points [0, 45; -315, 0]
DstBlock "Sum2"
DstPort 1
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [50, 0]
Branch {
Points [0, -35; 40, 0; 0, -45]
DstBlock "teta d prim"
DstPort 1
}
Branch {
DstBlock "Transfer Fcn"
DstPort 1
}
}
Line {
Labels [1, 0]
SrcBlock "Sum1"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "u2"
DstPort 1
}
Branch {
Labels [1, 0]
Points [0, 270]
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; -25, 0]
Branch {
Points [0, 70]
DstBlock "teta"
DstPort 1
}
Branch {
Points [-90, 0]
DstBlock "Sum2"
DstPort 2
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [-60, 0; -30, 0]
Branch {
Points [0, 70]
DstBlock "teta prim"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, -75; -85, 0]
DstBlock "Sum3"
DstPort 2
}
}
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [10, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "sigma 32"
SrcPort 1
Points [130, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Derivative1"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Derivative1"
DstPort 1
}
Branch {
Points [0, 55; -400, 0]
DstBlock "Sum3"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum7"
SrcPort 1
DstBlock "sigma 32"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "sigma 31"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [100, 0]
Branch {
DstBlock "Sum6"
DstPort 2
}
Branch {
Points [195, 0]
DstBlock "Sum7"
DstPort 2
}
}
Line {
SrcBlock "sigma 31"
SrcPort 1
DstBlock "Sum7"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [15, 0; 0, -15]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Annotation {
Name "r1"
Position [214, 45]
}
Annotation {
Name "r2"
Position [219, 150]
}
Annotation {
Name "u1"
Position [548, 45]
}
Annotation {
Name "teta d"
Position [429, 234]
}
Annotation {
Name "teta d sekund"
Position [746, 224]
}
Annotation {
Name "u2=teta sekund"
Position [896, 236]
}
Annotation {
Name "teta prim"
Position [394, 508]
}
Annotation {
Name "procena teta"
Position [190, 335]
}
Annotation {
Name "teta d"
Position [155, 285]
}
Annotation {
Name "teta"
Position [196, 507]
}
Annotation {
Name "teta d prim"
Position [548, 239]
}
Annotation {
Name "procena teta prim"
Position [325, 394]
}
}
}
⌨️ 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 + -