?? threedim_pendulum_control.mdl
字號:
ShowName off
Outputs "2"
}
Block {
BlockType Demux
Name "Demux2"
Ports [1, 2]
Position [90, 155, 95, 195]
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType Constant
Name "Marker\nY position"
Position [110, 35, 140, 65]
Value "0.5"
}
Block {
BlockType Mux
Name "Mux2"
Ports [3, 1]
Position [190, 106, 195, 144]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux3"
Ports [3, 1]
Position [190, 156, 195, 194]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "Pendulum\nY position"
Position [110, 220, 140, 250]
}
Block {
BlockType Outport
Name "Pendulum XYZ"
Position [220, 168, 250, 182]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Marker XYZ"
Position [220, 118, 250, 132]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Marker XZ"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Pendulum XZ"
SrcPort 1
DstBlock "Demux2"
DstPort 1
}
Line {
SrcBlock "Pendulum\nY position"
SrcPort 1
Points [10, 0; 0, -60]
DstBlock "Mux3"
DstPort 2
}
Line {
SrcBlock "Marker\nY position"
SrcPort 1
Points [10, 0; 0, 75]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Marker XYZ"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Pendulum XYZ"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 1
DstBlock "Mux3"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Demux1"
SrcPort 2
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Demux2"
SrcPort 2
DstBlock "Mux3"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "Pendulum 2D"
Ports [1, 2]
Position [215, 184, 305, 251]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskType "Inverted pendulum"
MaskDescription "Look under mask to see dynamics"
MaskHelp "Nonlinear dynamics of inverted pendulum."
MaskPromptString "Mass of cart (kg):|Mass of pendulum (kg):|Dista"
"nce to pendulum center of mass(m):|Acceleration of gravity (m/s^2):"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVarAliasString ",,,"
MaskVariables "mc=@1;mp=@2;l=@3;g=@4;"
MaskDisplay "plot([-10 10],[0 0],[-2 -2 2 2],[0 1 1 0],[0 -2"
"],[1 5])"
MaskIconFrame on
MaskIconOpaque off
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "0.5|1|0.5|9.80665"
MaskTabNameString ",,,"
System {
Name "Pendulum 2D"
Location [580, 361, 987, 623]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Force"
Position [25, 68, 55, 82]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2]
Position [80, 56, 85, 94]
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [245, 146, 250, 184]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [245, 36, 250, 74]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Pendulum X"
Ports [1, 2]
Position [140, 27, 190, 98]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskType "Inverted pendulum"
MaskDescription "Look under mask to see dynamics"
MaskHelp "Nonlinear dynamics of inverted pendulum."
MaskPromptString "Mass of cart (kg):|Mass of pendulum (kg):|D"
"istance to pendulum center of mass(m):|Acceleration of gravity (m/s^2):"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVarAliasString ",,,"
MaskVariables "mc=@1;mp=@2;l=@3;g=@4;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "mc|mp|l|g"
MaskTabNameString ",,,"
System {
Name "Pendulum X"
Location [6, 108, 515, 280]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Force"
Position [15, 20, 35, 40]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Fcn
Name "Fcn1"
Position [210, 30, 250, 50]
ShowName off
Expr "(u[1]/mp - g*sin(u[3])*cos(u[3]) + l*po"
"wer(u[2],2)*sin(u[3]))/(mc/mp + power(sin(u[3]),2))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [210, 115, 250, 135]
ShowName off
Expr "(-u[1]*cos(u[3])/mp + (mc+mp)*g*sin(u[3"
"])/mp - l*power(u[2],2)*sin(u[3])*cos(u[3]))/(l*(mc/mp + power(sin(u[3]),2)))"
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [385, 30, 405, 50]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [385, 115, 405, 135]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1]
Position [305, 115, 325, 135]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator4"
Ports [1, 1]
Position [305, 30, 325, 50]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [140, 109, 170, 141]
ShowName off
Inputs "3"
}
Block {
BlockType Mux
Name "Mux1"
Ports [3, 1]
Position [140, 24, 170, 56]
ShowName off
Inputs "3"
}
Block {
BlockType Outport
Name "Position"
Position [470, 30, 490, 50]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "Angle"
Position [470, 115, 490, 135]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [20, 0]
Branch {
Points [0, -50; -335, 0]
Branch {
Points [0, 60]
DstBlock "Mux"
DstPort 3
}
Branch {
Points [0, -25]
DstBlock "Mux1"
DstPort 3
}
}
Branch {
DstBlock "Angle"
DstPort 1
}
}
Line {
SrcBlock "Integrator3"
SrcPort 1
Points [20, 0]
Branch {
Points [0, -35; -270, 0]
Branch {
Points [0, 35]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, -50]
DstBlock "Mux1"
DstPort 2
}
}
Branch {
DstBlock "Integrator2"
DstPort 1
}
}
Line {
SrcBlock "Force"
SrcPort 1
Points [30, 0]
Branch {
Points [0, 85]
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Integrator4"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock "Integrator4"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fcn1"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fcn2"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Position"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Pendulum Z"
Ports [1, 2]
Position [140, 124, 190, 191]
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskType "Inverted pendulum"
MaskDescription "Look under mask to see dynamics"
MaskHelp "Nonlinear dynamics of inverted pendulum."
MaskPromptString "Mass of cart (kg):|Mass of pendulum (kg):|D"
"istance to pendulum center of mass(m):|Acceleration of gravity (m/s^2):"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVarAliasString ",,,"
MaskVariables "mc=@1;mp=@2;l=@3;g=@4;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "0.5|1|0.5|9.8"
MaskTabNameString ",,,"
System {
Name "Pendulum Z"
Location [123, 132, 632, 304]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Force"
Position [15, 20, 35, 40]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Fcn
Name "Fcn1"
Position [210, 30, 250, 50]
ShowName off
Expr "(u[1]/mp - g*sin(u[3])*cos(u[3]) + l*po"
"wer(u[2],2)*sin(u[3]))/(mc/mp + power(sin(u[3]),2))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [210, 115, 250, 135]
ShowName off
Expr "(-u[1]*cos(u[3])/mp + (mc+mp)*g*sin(u[3"
"])/mp - l*power(u[2],2)*sin(u[3])*cos(u[3]))/(l*(mc/mp + power(sin(u[3]),2)))"
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [385, 30, 405, 50]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [385, 115, 405, 135]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1]
Position [305, 115, 325, 135]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator4"
Ports [1, 1]
Position [305, 30, 325, 50]
ShowName off
UpperSaturationLimit "Inf"
LowerSaturationLimit "-Inf"
ZeroCross off
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [140, 109, 170, 141]
ShowName off
Inputs "3"
}
Block {
BlockType Mux
Name "Mux1"
Ports [3, 1]
Position [140, 24, 170, 56]
ShowName off
Inputs "3"
}
Block {
BlockType Outport
Name "Position"
Position [470, 30, 490, 50]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "Angle"
Position [470, 115, 490, 135]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "Position"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
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