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cours-m1-eea/424-Systeme_Non_Lineaires/TP2/Grue_NL.mdl.r2009b

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ajout TP2 424
2019-04-24 00:15:19 +02:00
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Name "Trigonometric\nFunction3"
SID 36
Ports [1, 1]
Position [250, 245, 280, 275]
}
Block {
BlockType Outport
Name "Theta"
SID 37
Position [755, 178, 785, 192]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Theta'"
SID 38
Position [655, 123, 685, 137]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Theta''"
SID 39
Position [585, 123, 615, 137]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Line {
SrcBlock "d''"
SrcPort 1
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction2"
SrcPort 1
Points [5, 0; 0, -30]
DstBlock "Product1"
DstPort 2
}
Line {
SrcBlock "r'"
SrcPort 1
DstBlock "Product3"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Product3"
DstPort 3
}
Line {
SrcBlock "Trigonometric\nFunction3"
SrcPort 1
DstBlock "Product4"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [205, 0; 0, -30]
DstBlock "Product4"
DstPort 2
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [30, 0; 0, 85]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Product3"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Product4"
SrcPort 1
Points [25, 0; 0, -50]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "r"
SrcPort 1
Points [15, 0; 0, 65]
DstBlock "Divide"
DstPort 1
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Divide"
DstPort 2
}
Line {
SrcBlock "Divide"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "Theta''"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, 180; -605, 0; 0, -175]
DstBlock "Product3"
DstPort 2
}
Branch {
Points [0, -55]
DstBlock "Theta'"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Theta"
DstPort 1
}
Branch {
Points [0, -155; -625, 0; 0, 80; 100, 0]
Branch {
DstBlock "Trigonometric\nFunction2"
DstPort 1
}
Branch {
Points [0, 150]
DstBlock "Trigonometric\nFunction3"
DstPort 1
}
}
}
}
}
Block {
BlockType SubSystem
Name "Eq_d"
SID 40
Ports [3, 3]
Position [435, 271, 550, 339]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Eq_d"
Location [556, 107, 1156, 395]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "F"
SID 41
Position [25, 153, 55, 167]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "T"
SID 42
Position [25, 98, 55, 112]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "Theta"
SID 43
Position [25, 33, 55, 47]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant"
SID 44
Position [80, 185, 110, 215]
Value "Cd"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
SID 45
Position [260, 190, 290, 220]
Value "Mc"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Product
Name "Divide"
SID 46
Ports [2, 1]
Position [325, 152, 355, 183]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Integrator
Name "Integrator"
SID 47
Ports [1, 1]
Position [385, 155, 415, 185]
}
Block {
BlockType Integrator
Name "Integrator1"
SID 48
Ports [1, 1]
Position [480, 155, 510, 185]
}
Block {
BlockType Product
Name "Product"
SID 49
Ports [2, 1]
Position [170, 82, 200, 113]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product1"
SID 50
Ports [2, 1]
Position [180, 192, 210, 223]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 51
Ports [3, 1]
Position [220, 150, 240, 170]
ShowName off
IconShape "round"
Inputs "++-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 52
Ports [1, 1]
Position [95, 25, 125, 55]
}
Block {
BlockType Outport
Name "d"
SID 53
Position [545, 163, 575, 177]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "d'"
SID 54
Position [545, 123, 575, 137]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "d''"
SID 55
Position [545, 83, 575, 97]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [25, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [20, 0; 0, 50]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [15, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Divide"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [5, 0; 0, -30]
DstBlock "Divide"
DstPort 2
}
Line {
SrcBlock "Divide"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "d''"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [10, 0]
Branch {
Points [15, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, 90; -280, 0]
DstBlock "Product1"
DstPort 2
}
}
Branch {
Points [0, -40]
DstBlock "d'"
DstPort 1
}
}
Line {
SrcBlock "F"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "T"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Theta"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "d"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Eq_r"
SID 56
Ports [4, 3]
Position [430, 176, 555, 229]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Eq_r"
Location [215, 204, 1375, 908]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "C"
SID 57
Position [120, 123, 150, 137]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "d''"
SID 58
Position [25, 323, 55, 337]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "Theta"
SID 59
Position [25, 263, 55, 277]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "Theta'"
SID 60
Position [25, 378, 55, 392]
Port "4"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Sum
Name "Add"
SID 61
Ports [5, 1]
Position [385, 127, 490, 333]
Inputs "---++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Constant
Name "Constant"
SID 62
Position [70, 140, 100, 170]
Value "b"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
SID 63
Position [100, 60, 130, 90]
Value "J"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 64
Position [180, 25, 210, 55]
Value "m"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 65
Position [45, 210, 75, 240]
Value "Cr"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 66
Position [185, 460, 215, 490]
Value "g"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Product
Name "Divide"
SID 67
Ports [2, 1]
Position [280, 132, 310, 163]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide1"
SID 68
Ports [2, 1]
Position [175, 162, 205, 193]
Inputs "**"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide2"
SID 69
Ports [2, 1]
Position [265, 67, 295, 98]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide3"
SID 70
Ports [2, 1]
Position [520, 177, 550, 208]
Inputs "/*"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide4"
SID 71
Ports [2, 1]
Position [280, 187, 310, 218]
Inputs "/*"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide5"
SID 72
Ports [2, 1]
Position [185, 217, 215, 248]
Inputs "**"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide6"
SID 73
Ports [3, 1]
Position [280, 254, 310, 286]
Inputs "***"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide7"
SID 74
Ports [2, 1]
Position [120, 362, 150, 393]
Inputs "**"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide8"
SID 75
Ports [3, 1]
Position [280, 364, 310, 396]
Inputs "***"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide9"
SID 76
Ports [3, 1]
Position [280, 424, 310, 456]
Inputs "***"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Integrator
Name "Integrator"
SID 77
Ports [1, 1]
Position [685, 180, 715, 210]
InitialCondition "R"
}
Block {
BlockType Integrator
Name "Integrator1"
SID 78
Ports [1, 1]
Position [600, 180, 630, 210]
}
Block {
BlockType Sum
Name "Sum"
SID 79
Ports [2, 1]
Position [290, 30, 310, 50]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction2"
SID 80
Ports [1, 1]
Position [95, 255, 125, 285]
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction3"
SID 81
Ports [1, 1]
Position [120, 425, 150, 455]
Operator "cos"
}
Block {
BlockType Outport
Name "r"
SID 82
Position [765, 188, 795, 202]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "r'"
SID 83
Position [675, 138, 705, 152]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "r''"
SID 84
Position [605, 138, 635, 152]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Line {
SrcBlock "C"
SrcPort 1
Points [110, 0]
DstBlock "Divide"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Divide"
DstPort 2
}
Branch {
Points [0, 15]
Branch {
DstBlock "Divide1"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Divide1"
DstPort 2
}
}
}
Line {
SrcBlock "Divide"
SrcPort 1
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, 220]
Branch {
DstBlock "Divide6"
DstPort 1
}
Branch {
Points [0, 105]
Branch {
Points [0, 5]
DstBlock "Divide8"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Divide9"
DstPort 1
}
}
}
}
Line {
SrcBlock "Divide2"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Divide2"
DstPort 1
}
Line {
SrcBlock "Divide1"
SrcPort 1
Points [15, 0; 0, -5]
Branch {
Points [0, -85]
DstBlock "Divide2"
DstPort 2
}
Branch {
Points [0, 20]
DstBlock "Divide4"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [190, 0]
DstBlock "Divide3"
DstPort 1
}
Line {
SrcBlock "Add"
SrcPort 1
Points [0, -30]
DstBlock "Divide3"
DstPort 2
}
Line {
SrcBlock "Divide3"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "r''"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 165; -480, 0]
DstBlock "Divide5"
DstPort 2
}
Branch {
Points [0, -50]
DstBlock "r'"
DstPort 1
}
}
Line {
SrcBlock "Constant3"
SrcPort 1
DstBlock "Divide5"
DstPort 1
}
Line {
SrcBlock "Divide5"
SrcPort 1
Points [5, 0; 0, -25]
DstBlock "Divide4"
DstPort 2
}
Line {
SrcBlock "Divide4"
SrcPort 1
Points [10, 0; 0, -15]
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Theta"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Trigonometric\nFunction2"
DstPort 1
}
Branch {
Points [0, 170]
DstBlock "Trigonometric\nFunction3"
DstPort 1
}
}
Line {
SrcBlock "d''"
SrcPort 1
Points [90, 0; 0, -50]
DstBlock "Divide6"
DstPort 3
}
Line {
SrcBlock "Trigonometric\nFunction2"
SrcPort 1
DstBlock "Divide6"
DstPort 2
}
Line {
SrcBlock "Divide6"
SrcPort 1
Points [10, 0; 0, -40]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "Theta'"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Divide7"
DstPort 2
}
Branch {
Points [0, -15]
DstBlock "Divide7"
DstPort 1
}
}
Line {
SrcBlock "Divide7"
SrcPort 1
DstBlock "Divide8"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [10, 0]
Branch {
Points [0, 220; -465, 0]
DstBlock "Divide8"
DstPort 3
}
Branch {
DstBlock "r"
DstPort 1
}
}
Line {
SrcBlock "Divide8"
SrcPort 1
Points [20, 0; 0, -110]
DstBlock "Add"
DstPort 4
}
Line {
SrcBlock "Trigonometric\nFunction3"
SrcPort 1
DstBlock "Divide9"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [20, 0; 0, -25]
DstBlock "Divide9"
DstPort 3
}
Line {
SrcBlock "Divide9"
SrcPort 1
Points [45, 0; 0, -130]
DstBlock "Add"
DstPort 5
}
}
}
Block {
BlockType Saturate
Name "Saturation"
SID 190
Position [180, 270, 210, 300]
UpperLimit "1e4"
LowerLimit "-1e4"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Saturate
Name "Saturation1"
SID 191
Position [225, 165, 255, 195]
UpperLimit "3e3"
LowerLimit "-3e3"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Sum
Name "Sum2"
SID 193
Ports [2, 1]
Position [115, 170, 135, 190]
ShowName off
IconShape "round"
Inputs "+-|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType SubSystem
Name "T"
SID 85
Ports [3, 1]
Position [685, 146, 795, 284]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "T"
Location [422, 170, 1111, 827]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "r'"
SID 86
Position [95, 178, 125, 192]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "r''"
SID 87
Position [95, 378, 125, 392]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "C"
SID 88
Position [95, 318, 125, 332]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Product
Name "Divide"
SID 89
Ports [3, 1]
Position [155, 380, 185, 450]
Inputs "**/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide1"
SID 90
Ports [3, 1]
Position [155, 171, 195, 239]
Inputs "**/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide2"
SID 91
Ports [2, 1]
Position [310, 197, 340, 228]
Inputs "*/"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
SID 92
Ports [2, 1]
Position [225, 315, 245, 335]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum3"
SID 93
Ports [2, 1]
Position [240, 195, 260, 215]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Constant
Name "g"
SID 94
Position [95, 435, 125, 465]
ShowName off
Value "b"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "g1"
SID 95
Position [60, 195, 90, 225]
ShowName off
Value "Cr"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "g2"
SID 96
Position [95, 255, 125, 285]
ShowName off
Value "b"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "g3"
SID 97
Position [255, 260, 285, 290]
ShowName off
Value "b"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "g4"
SID 98
Position [50, 400, 80, 430]
ShowName off
Value "J"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "T"
SID 99
Position [385, 208, 415, 222]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Line {
SrcBlock "r''"
SrcPort 1
Points [10, 0]
DstBlock "Divide"
DstPort 1
}
Line {
SrcBlock "C"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Divide"
SrcPort 1
Points [45, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "r'"
SrcPort 1
DstBlock "Divide1"
DstPort 1
}
Line {
SrcBlock "g1"
SrcPort 1
Points [30, 0; 0, -5]
DstBlock "Divide1"
DstPort 2
}
Line {
SrcBlock "g2"
SrcPort 1
Points [5, 0; 0, -45]
DstBlock "Divide1"
DstPort 3
}
Line {
SrcBlock "Divide1"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Divide2"
DstPort 1
}
Line {
SrcBlock "g3"
SrcPort 1
Points [5, 0]
DstBlock "Divide2"
DstPort 2
}
Line {
SrcBlock "Divide2"
SrcPort 1
DstBlock "T"
DstPort 1
}
Line {
SrcBlock "g"
SrcPort 1
Points [5, 0; 0, -10]
DstBlock "Divide"
DstPort 3
}
Line {
SrcBlock "g4"
SrcPort 1
DstBlock "Divide"
DstPort 2
}
}
}
Block {
BlockType Outport
Name "d"
SID 100
Position [860, 353, 890, 367]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "r"
SID 101
Position [855, 113, 885, 127]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Theta"
SID 102
Position [855, 48, 885, 62]
Port "3"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "d'"
SID 103
Position [860, 408, 890, 422]
Port "4"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "r'"
SID 104
Position [855, 298, 885, 312]
Port "5"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Theta'"
SID 105
Position [855, 78, 885, 92]
Port "6"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Line {
SrcBlock "Eq_r"
SrcPort 2
Points [5, 0]
Branch {
Points [45, 0; 0, -25]
Branch {
Points [0, -45; -195, 0]
DstBlock "Eq_Theta"
DstPort 3
}
Branch {
Points [60, 0]
DstBlock "T"
DstPort 1
}
}
Branch {
Points [0, 100]
DstBlock "r'"
DstPort 1
}
}
Line {
SrcBlock "Eq_r"
SrcPort 1
Points [0, -30]
Branch {
Points [0, -15; -155, 0; 0, -60]
DstBlock "Eq_Theta"
DstPort 2
}
Branch {
Points [90, 0; 0, -40]
DstBlock "r"
DstPort 1
}
}
Line {
SrcBlock "Eq_d"
SrcPort 3
Points [40, 0; 0, 35; -200, 0; 0, -170]
Branch {
Points [0, -125]
DstBlock "Eq_Theta"
DstPort 1
}
Branch {
Points [0, 5]
DstBlock "Eq_r"
DstPort 2
}
}
Line {
SrcBlock "Eq_d"
SrcPort 2
Points [5, 0; 0, 110]
DstBlock "d'"
DstPort 1
}
Line {
SrcBlock "Eq_Theta"
SrcPort 1
Points [0, -10]
Branch {
Points [0, -10; -220, 0; 0, 155]
Branch {
Points [-25, 0; 0, 125]
DstBlock "Eq_d"
DstPort 3
}
Branch {
Points [0, 10]
DstBlock "Eq_r"
DstPort 3
}
}
Branch {
DstBlock "Theta"
DstPort 1
}
}
Line {
SrcBlock "Eq_Theta"
SrcPort 2
Points [30, 0]
Branch {
Points [0, -55; -290, 0; 0, 195]
DstBlock "Eq_r"
DstPort 4
}
Branch {
DstBlock "Theta'"
DstPort 1
}
}
Line {
SrcBlock "Eq_r"
SrcPort 3
Points [110, 0]
DstBlock "T"
DstPort 2
}
Line {
SrcBlock "F"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "T"
SrcPort 1
Points [25, 0; 0, 240; -405, 0]
DstBlock "Eq_d"
DstPort 2
}
Line {
SrcBlock "Eq_d"
SrcPort 1
Points [110, 0; 0, 75]
DstBlock "d"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Eq_d"
DstPort 1
}
Line {
SrcBlock "Saturation1"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Eq_r"
DstPort 1
}
Branch {
Points [0, 80]
DstBlock "T"
DstPort 3
}
}
Line {
SrcBlock "Constant2"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "C + C0"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
}
}
}
}
Reference in a new issue Copy permalink