📄 belka.mdl
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Line {
Name "x\"\n"
SrcBlock "Sum1"
SrcPort 1
Points [80, 0]
Branch {
Labels [1, 1]
DstBlock "Integrator"
DstPort 1
}
Branch {
Labels [3, 0]
Points [0, -25; -280, 0; 0, 585; 255, 0]
DstBlock "Product4"
DstPort 2
}
}
Line {
Name "x'\n"
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 45, 0]
Branch {
Labels [1, 1]
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, 5]
Branch {
Points [0, 70]
DstBlock "Gain3"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "out x'"
DstPort 1
}
}
}
Line {
Name "x\n"
Labels [2, 1]
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0]
DstBlock "x"
DstPort 1
}
Line {
Name "teta'\n"
SrcBlock "Integrator2"
SrcPort 1
Points [40, 0]
Branch {
Labels [1, 1]
DstBlock "Integrator3"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "Gain6"
DstPort 1
}
Branch {
Points [0, -90]
Branch {
Points [0, -10]
DstBlock "Product2"
DstPort 2
}
Branch {
DstBlock "Product2"
DstPort 3
}
}
}
Line {
Name "teta \n"
Labels [2, 1]
SrcBlock "Integrator3"
SrcPort 1
Points [0, 0; 45, 0]
Branch {
DstBlock "theta"
DstPort 1
}
Branch {
Points [0, -135]
Branch {
DstBlock "Trigonometric\nFunction1"
DstPort 1
}
Branch {
Points [0, -65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
}
}
Line {
Name "teta\"\n"
SrcBlock "Sum"
SrcPort 1
Points [35, 0]
Branch {
Points [0, -160]
DstBlock "Product"
DstPort 2
}
Branch {
Labels [1, 1]
DstBlock "Integrator2"
DstPort 1
}
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [149, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [-155, 0]
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [0, -95]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [-45, 0; 0, 25]
Branch {
Points [0, 330]
DstBlock "Product4"
DstPort 1
}
Branch {
DstBlock "Product"
DstPort 1
}
}
Line {
SrcBlock "Trigonometric\nFunction1"
SrcPort 1
Points [-85, 0; 0, 20]
Branch {
Points [0, 5]
DstBlock "Product2"
DstPort 1
}
Branch {
Points [0, 235]
DstBlock "Gain4"
DstPort 1
}
}
Line {
SrcBlock "Product4"
SrcPort 1
Points [-45, 0]
DstBlock "Gain5"
DstPort 1
}
Line {
SrcBlock "Gain5"
SrcPort 1
Points [0, -125; 49, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Gain6"
SrcPort 1
Points [-95, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Gain4"
SrcPort 1
Points [-255, 0; 0, -105]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [-110, 0]
DstBlock "Sum1"
DstPort 4
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [-250, 0]
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [0, -79]
DstBlock "Sum1"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
Ports [1, 1]
Position [475, 94, 575, 136]
Orientation "left"
NamePlacement "alternate"
ShowName off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
System {
Name "Subsystem1"
Location [2, 82, 1270, 754]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [110, 103, 140, 117]
IconDisplay "Port number"
}
Block {
BlockType Reference
Name "Compare\nTo Constant"
Ports [1, 1]
Position [320, 140, 350, 170]
SourceBlock "simulink/Logic and Bit\nOperations/Compare"
"\nTo Constant"
SourceType "Compare To Constant"
ShowPortLabels on
relop ">"
const "1"
LogicOutDataTypeMode "uint8"
ZeroCross off
}
Block {
BlockType Reference
Name "Compare\nTo Constant1"
Ports [1, 1]
Position [320, 75, 350, 105]
SourceBlock "simulink/Logic and Bit\nOperations/Compare"
"\nTo Constant"
SourceType "Compare To Constant"
ShowPortLabels on
relop "<"
const "pi-1"
LogicOutDataTypeMode "uint8"
ZeroCross off
}
Block {
BlockType Logic
Name "Logical\nOperator"
Ports [2, 1]
Position [505, 112, 535, 143]
AllPortsSameDT off
OutDataTypeMode "Boolean"
}
Block {
BlockType Outport
Name "Out1"
Position [985, 123, 1015, 137]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "In1"
SrcPort 1
Points [70, 0; 0, 0]
Branch {
Points [0, 45]
DstBlock "Compare\nTo Constant"
DstPort 1
}
Branch {
Points [0, -20]
DstBlock "Compare\nTo Constant1"
DstPort 1
}
}
Line {
SrcBlock "Compare\nTo Constant1"
SrcPort 1
Points [65, 0; 0, 30]
DstBlock "Logical\nOperator"
DstPort 1
}
Line {
SrcBlock "Compare\nTo Constant"
SrcPort 1
Points [65, 0; 0, -20]
DstBlock "Logical\nOperator"
DstPort 2
}
Line {
SrcBlock "Logical\nOperator"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [160, 180, 180, 200]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [375, 180, 395, 200]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Switch
Name "Switch"
Position [380, 50, 410, 80]
Orientation "left"
NamePlacement "alternate"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Switch
Name "Switch1"
Position [320, 175, 350, 205]
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType MATLABFcn
Name "belka f"
Position [955, 165, 1015, 195]
ShowName off
MATLABFcn "funkcja_plot"
OutputDimensions "0"
SampleTime "0.001"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Discrete\nPID Controller"
DstPort 1
}
Branch {
DstBlock "Discrete\nPID Controller3"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Discrete\nPID Controller1"
SrcPort 1
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 3
Points [15, 0]
Branch {
Points [0, -160]
DstBlock "Discrete\nPID Controller1"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "Scope"
DstPort 3
}
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [0, 105; 30, 0; 0, 45]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Switch1"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Discrete\nPID Controller"
SrcPort 1
Points [35, 0; 0, 15]
DstBlock "Switch1"
DstPort 1
}
Line {
SrcBlock "Discrete\nPID Controller3"
SrcPort 1
Points [35, 0; 0, -25]
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [160, 0]
Branch {
Points [0, 110]
DstBlock "Scope"
DstPort 2
}
Branch {
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Subsystem"
SrcPort 2
Points [105, 0]
Branch {
Points [0, 75]
Branch {
Points [-535, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Branch {
Points [0, 0]
Branch {
Points [0, -75]
DstBlock "Subsystem1"
DstPort 1
}
Branch {
DstBlock "Mux"
DstPort 2
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "belka f"
DstPort 1
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
Points [-20, 0]
Branch {
Points [0, -50]
DstBlock "Switch"
DstPort 2
}
Branch {
Points [-145, 0]
DstBlock "Switch1"
DstPort 2
}
}
}
}
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