?? mrefrobotarm2.mdl
字號(hào):
# $Revision: 1.1.2.1 $
Model {
Name "mrefrobotarm2"
Version 5.0
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Created "Fri Oct 16 21:07:47 1998"
Creator "eyarrow"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "eyarrow"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Tue Jul 30 11:33:39 2002"
ModelVersionFormat "1.%<AutoIncrement:281>"
ConfigurationManager "none"
SimParamPage "Solver"
LinearizationMsg "none"
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AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
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ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
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ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect off
ExtModeSkipDownloadWhenConnect off
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TunableVars "prueba"
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MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-3"
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OutputOption "RefineOutputTimes"
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Block {
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Name "Clock"
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Block {
BlockType SubSystem
Name "Model Reference Controller"
Ports [2, 1]
Position [230, 27, 400, 138]
BackgroundColor "cyan"
DropShadow on
NamePlacement "alternate"
OpenFcn "nncontrolutil('nnmodref','',gcbh,gcb,'');"
TreatAsAtomicUnit off
MaskType "NN Model Reference Control"
MaskDescription "Neural network model reference controller. You"
" first train a neural network model of the plant to be controlled. Then trai"
"n the controller so that the plant output will follow the output of a referen"
"ce model. Double-click the Model Reference Control block to begin the plant "
"and controller training."
MaskPromptString "Sample time|S1|Ni|Nj|sim_file|Training function"
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MaskVariables "Ts=@1;S1=@2;Ni=@3;Nj=@4;sim_file=&5;trainfun=@6"
";Use_validation=@7;Use_Testing=@8;Use_Inc_training=@9;Use_previous_weights=@1"
"0;max_i=@11;min_i=@12;max_r=@13;min_r=@14;sam_training=@15;sam_training_c=@16"
";epochs=@17;epochs_c=@18;minp=@19;maxp=@20;mint=@21;maxt=@22;Normalize=@23;IW"
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MaskInitialization "xl = [0 .53 .53 .92 .92 .53 .53"
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Port {
PortNumber 1
Name "Torque"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
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System {
Name "Model Reference Controller"
Location [513, 156, 985, 497]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
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Block {
BlockType Inport
Name "Reference"
Position [60, 75, 90, 95]
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Block {
BlockType Inport
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