2563 lines
66 KiB
Text
Executable file
2563 lines
66 KiB
Text
Executable file
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BackgroundColor "white"
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DropShadow off
|
|
FontName "Helvetica"
|
|
FontSize 10
|
|
FontWeight "normal"
|
|
FontAngle "normal"
|
|
UseDisplayTextAsClickCallback off
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}
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LineDefaults {
|
|
FontName "Helvetica"
|
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FontSize 9
|
|
FontWeight "normal"
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FontAngle "normal"
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}
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BlockParameterDefaults {
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Block {
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BlockType Constant
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Value "1"
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VectorParams1D on
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SamplingMode "Sample based"
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OutMin "[]"
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OutMax "[]"
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OutDataTypeMode "Inherit from 'Constant value'"
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|
OutDataType "fixdt(1,16,0)"
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|
ConRadixGroup "Use specified scaling"
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|
OutScaling "[]"
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|
OutDataTypeStr "Inherit: Inherit from 'Constant value'"
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|
LockScale off
|
|
SampleTime "inf"
|
|
FramePeriod "inf"
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}
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Block {
|
|
BlockType Inport
|
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Port "1"
|
|
UseBusObject off
|
|
BusObject "BusObject"
|
|
BusOutputAsStruct off
|
|
PortDimensions "-1"
|
|
VarSizeSig "Inherit"
|
|
SampleTime "-1"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
DataType "auto"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: auto"
|
|
LockScale off
|
|
SignalType "auto"
|
|
SamplingMode "auto"
|
|
LatchByDelayingOutsideSignal off
|
|
LatchByCopyingInsideSignal off
|
|
Interpolate on
|
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}
|
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Block {
|
|
BlockType Integrator
|
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ExternalReset "none"
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InitialConditionSource "internal"
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InitialCondition "0"
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|
LimitOutput off
|
|
UpperSaturationLimit "inf"
|
|
LowerSaturationLimit "-inf"
|
|
ShowSaturationPort off
|
|
ShowStatePort off
|
|
AbsoluteTolerance "auto"
|
|
IgnoreLimit off
|
|
ZeroCross on
|
|
ContinuousStateAttributes "''"
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}
|
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Block {
|
|
BlockType Outport
|
|
Port "1"
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|
UseBusObject off
|
|
BusObject "BusObject"
|
|
BusOutputAsStruct off
|
|
PortDimensions "-1"
|
|
VarSizeSig "Inherit"
|
|
SampleTime "-1"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
DataType "auto"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: auto"
|
|
LockScale off
|
|
SignalType "auto"
|
|
SamplingMode "auto"
|
|
SourceOfInitialOutputValue "Dialog"
|
|
OutputWhenDisabled "held"
|
|
InitialOutput "[]"
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}
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Block {
|
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BlockType Product
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|
Inputs "2"
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|
Multiplication "Element-wise(.*)"
|
|
CollapseMode "All dimensions"
|
|
CollapseDim "1"
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|
InputSameDT on
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Same as first input"
|
|
OutDataType "fixdt(1,16,0)"
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|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: Same as first input"
|
|
LockScale off
|
|
RndMeth "Zero"
|
|
SaturateOnIntegerOverflow on
|
|
SampleTime "-1"
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}
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Block {
|
|
BlockType Saturate
|
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UpperLimit "0.5"
|
|
LowerLimit "-0.5"
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|
LinearizeAsGain on
|
|
ZeroCross on
|
|
SampleTime "-1"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Same as input"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: Same as input"
|
|
LockScale off
|
|
RndMeth "Floor"
|
|
}
|
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Block {
|
|
BlockType SubSystem
|
|
ShowPortLabels "FromPortIcon"
|
|
Permissions "ReadWrite"
|
|
PermitHierarchicalResolution "All"
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|
TreatAsAtomicUnit off
|
|
CheckFcnCallInpInsideContextMsg off
|
|
SystemSampleTime "-1"
|
|
RTWFcnNameOpts "Auto"
|
|
RTWFileNameOpts "Auto"
|
|
RTWMemSecFuncInitTerm "Inherit from model"
|
|
RTWMemSecFuncExecute "Inherit from model"
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|
RTWMemSecDataConstants "Inherit from model"
|
|
RTWMemSecDataInternal "Inherit from model"
|
|
RTWMemSecDataParameters "Inherit from model"
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|
SimViewingDevice off
|
|
DataTypeOverride "UseLocalSettings"
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|
MinMaxOverflowLogging "UseLocalSettings"
|
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}
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Block {
|
|
BlockType Sum
|
|
IconShape "rectangular"
|
|
Inputs "++"
|
|
CollapseMode "All dimensions"
|
|
CollapseDim "1"
|
|
InputSameDT on
|
|
AccumDataTypeStr "Inherit: Inherit via internal rule"
|
|
OutMin "[]"
|
|
OutMax "[]"
|
|
OutDataTypeMode "Same as first input"
|
|
OutDataType "fixdt(1,16,0)"
|
|
OutScaling "[]"
|
|
OutDataTypeStr "Inherit: Same as first input"
|
|
LockScale off
|
|
RndMeth "Floor"
|
|
SaturateOnIntegerOverflow on
|
|
SampleTime "-1"
|
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}
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Block {
|
|
BlockType Trigonometry
|
|
Operator "sin"
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|
OutputSignalType "auto"
|
|
SampleTime "-1"
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}
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}
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System {
|
|
Name "Grue_NL"
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|
Location [0, 73, 1280, 796]
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Open on
|
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ModelBrowserVisibility off
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ModelBrowserWidth 200
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|
ScreenColor "white"
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PaperOrientation "landscape"
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PaperPositionMode "auto"
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PaperType "A4"
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PaperUnits "centimeters"
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TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
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|
TiledPageScale 1
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|
ShowPageBoundaries off
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|
ZoomFactor "100"
|
|
ReportName "simulink-default.rpt"
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SIDHighWatermark 193
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Block {
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BlockType SubSystem
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|
Name "Grue_NL"
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|
SID 19
|
|
Ports [2, 6]
|
|
Position [570, 129, 700, 301]
|
|
MinAlgLoopOccurrences off
|
|
PropExecContextOutsideSubsystem off
|
|
RTWSystemCode "Auto"
|
|
FunctionWithSeparateData off
|
|
Opaque off
|
|
RequestExecContextInheritance off
|
|
MaskHideContents off
|
|
System {
|
|
Name "Grue_NL"
|
|
Location [57, 132, 1189, 742]
|
|
Open off
|
|
ModelBrowserVisibility off
|
|
ModelBrowserWidth 200
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|
ScreenColor "white"
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PaperOrientation "landscape"
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PaperPositionMode "auto"
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PaperType "A4"
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PaperUnits "centimeters"
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TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
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TiledPageScale 1
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|
ShowPageBoundaries off
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ZoomFactor "100"
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Block {
|
|
BlockType Inport
|
|
Name "F"
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|
SID 20
|
|
Position [25, 278, 55, 292]
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
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|
OutScaling "2^0"
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}
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Block {
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|
BlockType Inport
|
|
Name "C + C0"
|
|
SID 21
|
|
Position [25, 173, 55, 187]
|
|
Port "2"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
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|
}
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Block {
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|
BlockType Constant
|
|
Name "Constant2"
|
|
SID 192
|
|
Position [99, 95, 151, 120]
|
|
BlockRotation 270
|
|
BlockMirror on
|
|
NamePlacement "alternate"
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|
ShowName off
|
|
Value "C0"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
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|
Block {
|
|
BlockType SubSystem
|
|
Name "Eq_Theta"
|
|
SID 22
|
|
Ports [3, 3]
|
|
Position [430, 55, 555, 115]
|
|
MinAlgLoopOccurrences off
|
|
PropExecContextOutsideSubsystem off
|
|
RTWSystemCode "Auto"
|
|
FunctionWithSeparateData off
|
|
Opaque off
|
|
RequestExecContextInheritance off
|
|
MaskHideContents off
|
|
System {
|
|
Name "Eq_Theta"
|
|
Location [447, 418, 1260, 809]
|
|
Open off
|
|
ModelBrowserVisibility off
|
|
ModelBrowserWidth 200
|
|
ScreenColor "white"
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|
PaperOrientation "landscape"
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|
PaperPositionMode "auto"
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|
PaperType "A4"
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|
PaperUnits "centimeters"
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|
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
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|
TiledPageScale 1
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|
ShowPageBoundaries off
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|
ZoomFactor "100"
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Block {
|
|
BlockType Inport
|
|
Name "d''"
|
|
SID 23
|
|
Position [145, 58, 175, 72]
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
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Block {
|
|
BlockType Inport
|
|
Name "r"
|
|
SID 24
|
|
Position [435, 103, 465, 117]
|
|
Port "2"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Inport
|
|
Name "r'"
|
|
SID 25
|
|
Position [145, 158, 175, 172]
|
|
Port "3"
|
|
IconDisplay "Port number"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
|
|
}
|
|
Block {
|
|
BlockType Sum
|
|
Name "Add"
|
|
SID 26
|
|
Ports [3, 1]
|
|
Position [435, 143, 475, 237]
|
|
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 27
|
|
Position [65, 200, 95, 230]
|
|
Value "2"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
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|
}
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|
Block {
|
|
BlockType Constant
|
|
Name "Constant1"
|
|
SID 28
|
|
Position [65, 290, 95, 320]
|
|
Value "g"
|
|
OutDataType "fixdt(1, 16)"
|
|
OutScaling "2^0"
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|
}
|
|
Block {
|
|
BlockType Product
|
|
Name "Divide"
|
|
SID 29
|
|
Ports [2, 1]
|
|
Position [520, 167, 550, 198]
|
|
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 30
|
|
Ports [1, 1]
|
|
Position [585, 170, 615, 200]
|
|
}
|
|
Block {
|
|
BlockType Integrator
|
|
Name "Integrator1"
|
|
SID 31
|
|
Ports [1, 1]
|
|
Position [655, 170, 685, 200]
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|
}
|
|
Block {
|
|
BlockType Product
|
|
Name "Product1"
|
|
SID 32
|
|
Ports [2, 1]
|
|
Position [320, 57, 350, 88]
|
|
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 "Product3"
|
|
SID 33
|
|
Ports [3, 1]
|
|
Position [255, 155, 285, 225]
|
|
Inputs "3"
|
|
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 "Product4"
|
|
SID 34
|
|
Ports [2, 1]
|
|
Position [330, 252, 360, 283]
|
|
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 35
|
|
Ports [1, 1]
|
|
Position [255, 95, 285, 125]
|
|
Operator "cos"
|
|
}
|
|
Block {
|
|
BlockType Trigonometry
|
|
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
|
|
}
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|
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
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|