?? ballbeamsys.mdl
字號:
SaturateOnIntegerOverflow on
SampleTime "-1"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
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System {
Name "anfis"
Location [6, 82, 1018, 712]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Ball-beam system"
Ports [1, 4]
Position [410, 229, 465, 286]
ShowPortLabels off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskType "Ball-Beam Dynamics"
MaskDescription "Ball-Beam Dynamics"
MaskHelp "Dynamics of the ball and beam system"
MaskPromptString "Initial Conditions:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskToolTipString "on"
MaskVariables "init_cond=@1;"
MaskDisplay "disp('Ball-beam \\nsystem')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "[-1 -1 -0.1 -0.1]"
System {
Name "Ball-beam system"
Location [6, 82, 1018, 713]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "in_1"
Position [295, 242, 325, 258]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType SubSystem
Name "Ball-beam system"
Ports [1, 4]
Position [360, 196, 410, 299]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskDisplay "disp('Ball-beam\\nsystem')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Ball-beam system"
Location [103, 169, 526, 484]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "in_1"
Position [60, 225, 80, 245]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [150, 88, 170, 132]
Orientation "left"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [55, 135, 75, 155]
Orientation "left"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Gain
Name "a"
Position [55, 34, 120, 66]
Gain "0.7143"
}
Block {
BlockType Gain
Name "b"
Position [120, 170, 190, 200]
Orientation "left"
Gain "-9.81"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Integrator
Name "r"
Ports [1, 1]
Position [230, 39, 275, 61]
InitialCondition "init_cond(1)"
}
Block {
BlockType Integrator
Name "r dot"
Ports [1, 1]
Position [135, 39, 175, 61]
InitialCondition "init_cond(2)"
}
Block {
BlockType Fcn
Name "sin(x3)"
Position [225, 173, 275, 197]
Orientation "left"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Integrator
Name "theta"
Ports [1, 1]
Position [225, 223, 275, 247]
InitialCondition "init_cond(3)"
}
Block {
BlockType Integrator
Name "theta dot"
Ports [1, 1]
Position [140, 225, 160, 245]
InitialCondition "init_cond(4)"
}
Block {
BlockType Fcn
Name "x4^2"
Position [230, 108, 275, 132]
Orientation "left"
Expr "u[1]^2"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Outport
Name "out_1"
Position [380, 40, 400, 60]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_2"
Position [380, 95, 400, 115]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_3"
Position [380, 225, 400, 245]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_4"
Position [380, 270, 400, 290]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "in_1"
SrcPort 1
DstBlock "theta dot"
DstPort 1
}
Line {
SrcBlock "theta"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
Points [0, -50]
DstBlock "sin(x3)"
DstPort 1
}
Branch {
DstBlock "out_3"
DstPort 1
}
}
Line {
SrcBlock "theta dot"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, 45; 155, 0]
Branch {
Points [0, -160]
DstBlock "x4^2"
DstPort 1
}
Branch {
Points [30, 0]
DstBlock "out_4"
DstPort 1
}
}
Branch {
DstBlock "theta"
DstPort 1
}
}
Line {
SrcBlock "a"
SrcPort 1
DstBlock "r dot"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [-20, 0; 0, -95]
DstBlock "a"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
Points [-15, 0; 0, -35]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
Points [-45, 0; 0, 30]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "sin(x3)"
SrcPort 1
DstBlock "b"
DstPort 1
}
Line {
SrcBlock "x4^2"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "r"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
Points [0, 50]
DstBlock "Product"
DstPort 1
}
Branch {
DstBlock "out_1"
DstPort 1
}
}
Line {
SrcBlock "r dot"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, -20; 140, 0; 0, 75]
DstBlock "out_2"
DstPort 1
}
Branch {
DstBlock "r"
DstPort 1
}
}
}
}
Block {
BlockType Outport
Name "out_1"
Position [475, 203, 490, 217]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_2"
Position [470, 229, 490, 241]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_3"
Position [470, 254, 490, 266]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_4"
Position [475, 278, 490, 292]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Ball-beam system"
SrcPort 1
DstBlock "out_1"
DstPort 1
}
Line {
SrcBlock "Ball-beam system"
SrcPort 2
DstBlock "out_2"
DstPort 1
}
Line {
SrcBlock "Ball-beam system"
SrcPort 3
DstBlock "out_3"
DstPort 1
}
Line {
SrcBlock "in_1"
SrcPort 1
DstBlock "Ball-beam system"
DstPort 1
}
Line {
SrcBlock "Ball-beam system"
SrcPort 4
DstBlock "out_4"
DstPort 1
}
}
}
Block {
BlockType Reference
Name "Fuzzy Logic\nController"
Ports [1, 1]
Position [405, 355, 465, 405]
Orientation "left"
FontName "Arial"
SourceBlock "fuzblock/Fuzzy Logic \nController"
SourceType "FIS"
ShowPortLabels on
fis "anfis"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [490, 343, 535, 412]
Orientation "left"
ShowName off
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [585, 169, 615, 196]
ShowName off
Inputs "2"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [675, 169, 705, 201]
Location [5, 54, 1029, 741]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "100"
DataFormat "StructureWithTime"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [525, 218, 550, 242]
NamePlacement "alternate"
ShowName off
Inputs "-+"
}
Block {
BlockType Constant
Name "Target Position"
Position [360, 162, 380, 188]
NamePlacement "alternate"
Value "0"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [30, 0; 0, 125]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Ball-beam system"
SrcPort 3
Points [95, 0; 0, 120]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Target Position"
SrcPort 1
Points [120, 0]
Branch {
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "Sum"
DstPort 1
}
}
Line {
SrcBlock "Ball-beam system"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -45]
DstBlock "Mux2"
DstPort 2
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fuzzy Logic\nController"
DstPort 1
}
Line {
SrcBlock "Fuzzy Logic\nController"
SrcPort 1
Points [-25, 0; 0, -120]
DstBlock "Ball-beam system"
DstPort 1
}
Line {
SrcBlock "Ball-beam system"
SrcPort 2
Points [105, 0; 0, 120]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Ball-beam system"
SrcPort 4
Points [85, 0; 0, 120]
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
}
}
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