Model { Name "Lab4Part1" Version 6.0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.511" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "ibm-5348_P100-1997" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines on ShowLineDimensions on ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Jul 31 14:07:54 2001" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Simon" ModifiedDateFormat "%" LastModifiedDate "Tue Nov 15 03:24:40 2005" ModelVersionFormat "1.%" ConfigurationManager "none" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse off ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.0.4" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.0.4" StartTime "0.0" StopTime "100" AbsTol "1e-6" FixedStep "0.001" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" RelTol "1e-3" SolverMode "SingleTasking" Solver "ode4" ZeroCrossControl "UseLocalSettings" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.0.4" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 8 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" Cell "LocalBlockOutputs" Cell "BufferReuse" Cell "ExpressionFolding" PropName "DisabledProps" } Version "1.0.4" BlockReduction on BooleanDataType off ConditionallyExecuteInputs on ConditionalExecOptimization "on_for_testing" InlineParams off InlineInvariantSignals on OptimizeBlockIOStorage off BufferReuse off EnforceIntegerDowncast off ExpressionFolding off FoldNonRolledExpr off LocalBlockOutputs off ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off OptimizeModelRefInitCode off LifeSpan "inf" } Simulink.DebuggingCC { $ObjectID 5 Version "1.0.4" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.0.4" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.0.4" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.0.4" SystemTargetFile "wincon.tlc" GenCodeOnly off MakeCommand "make_wc" TemplateMakefile "wc_default_tmf" Description "WinCon Target" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "wincon_make_rtw_hook" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 9 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" PropName "DisabledProps" } Version "1.0.4" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement on IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.STFCustomTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 12 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } Version "1.0.4" TargetFcnLib "ansi_tfl_tmw.mat" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant off IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging off MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SystemTargetFile "wincon.tlc" DialogCategory 0 Array { Type "Handle" Dimension 1 Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Array { Type "Cell" Dimension 12 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } Version "1.0.4" TargetFcnLib "ansi_tfl_tmw.mat" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant off IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging off MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on ExtMode on ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 2 ExtModeMexFile "wc_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } CustomProperty { DataType "slbool" Name "AllSignals" Value on } CustomProperty { DataType "slbool" Name "AllParameters" Value on } CustomProperty { DataType "slbool" Name "UseRTTCPIP" Value off } } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" ExtraOptions "-aInitFltsAndDblsToZero=1 " CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType BusCreator Inputs "4" DisplayOption "none" BusObject "BusObject" NonVirtualBus off } Block { BlockType BusSelector MuxedOutput off } Block { BlockType Clock DisplayTime off } Block { BlockType Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType Derivative LinearizePole "inf" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" ZeroCross on } Block { BlockType Math Operator "exp" OutputSignalType "auto" SampleTime "-1" OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Mux Inputs "4" DisplayOption "none" BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" } Block { BlockType Scope Floating off ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType SignalGenerator WaveForm "sine" TimeSource "Use simulation time" Amplitude "1" Frequency "1" Units "Hertz" VectorParams1D on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" 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" } System { Name "Lab4Part1" Location [81, 90, 975, 641] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType ToWorkspace Name "\n" Position [630, 35, 690, 65] VariableName "ref" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "\n2" Position [755, 295, 815, 325] ShowName off VariableName "x" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Gain Name "(/m)3" Position [205, 192, 260, 228] ShowName off Gain " K(1)" } Block { BlockType Clock Name "Clock" Position [40, 25, 60, 45] Decimation "10" } Block { BlockType SubSystem Name "Compensator" Ports [2, 1] Position [425, 364, 525, 406] Orientation "left" FontSize 10 TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Compensator" Location [433, 403, 931, 703] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xc" Position [85, 83, 115, 97] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "alpha" Position [85, 168, 115, 182] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Outport Name "u" Position [360, 103, 390, 117] IconDisplay "Port number" BusOutputAsStruct off } } } Block { BlockType Scope Name "Control Effort:\nVm (V)" Ports [1] Position [430, 115, 460, 145] Location [7, 54, 784, 586] Open off NumInputPorts "1" TickLabels "on" List { ListType AxesTitles axes1 "%" } TimeRange "5" YMin "-35" YMax "35" SaveName "ScopeData2" DataFormat "Array" LimitDataPoints off } Block { BlockType Mux Name "Mux2" Ports [4, 1] Position [660, 158, 665, 257] ShowName off DisplayOption "bar" } Block { BlockType SignalGenerator Name "Position\nSetpoint" Ports [0, 1] Position [40, 194, 70, 226] WaveForm "square" Frequency "0.05" } Block { BlockType SubSystem Name "SIP + IP01_2:\nNon-Linear EOM" Ports [1, 4] Position [495, 161, 615, 254] ForegroundColor "red" BackgroundColor "cyan" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "SIP + IP01_2:\nNon-Linear EOM" Location [-1, 82, 1011, 512] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Vm (V)" Position [35, 143, 65, 157] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Integrator Name "Acceleration\nto\nVelocity" Ports [1, 1] Position [770, 230, 800, 260] } Block { BlockType Gain Name "Back EMF" Position [395, 360, 445, 400] Orientation "left" Gain "Km" } Block { BlockType Gain Name "Back EMF1" Position [550, 358, 610, 402] Orientation "left" ShowName off Gain "Kg/r_mp" } Block { BlockType Gain Name "Current\nto\nForce" Position [330, 120, 495, 180] Gain "Eff_g*Kg*Eff_m*Kt/r_mp" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [100, 140, 120, 160] ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Saturate Name "UPM Current\nSaturation\n" Position [245, 135, 275, 165] UpperLimit "IMAX_UPM" LowerLimit "- IMAX_UPM" } Block { BlockType Integrator Name "Velocity \nto \nPosition" Ports [1, 1] Position [880, 229, 910, 261] } Block { BlockType Gain Name "Voltage\nto\nCurrent" Position [160, 129, 205, 171] Gain "1/Rm" } Block { BlockType SubSystem Name "xc_ddot EOM" Ports [2, 3] Position [540, 109, 690, 271] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "xc_ddot EOM" Location [-9, 86, 1003, 719] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Fc (N)" Position [35, 203, 65, 217] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "xc_dot (m/s)" Position [35, 258, 65, 272] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType BusCreator Name "Bus\nCreator" Ports [4, 1] Position [395, 184, 400, 291] ShowName off DialogController "Simulink.DDGSource_Bus" DisplayOption "bar" } Block { BlockType BusCreator Name "Bus\nCreator1" Ports [2, 1] Position [90, 183, 95, 292] ShowName off DialogController "Simulink.DDGSource_Bus" Inputs "2" DisplayOption "bar" } Block { BlockType BusSelector Name "Bus\nSelector1" Ports [1, 2] Position [490, 366, 495, 444] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal2,signal4" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector2" Ports [1, 2] Position [560, 251, 565, 329] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal2,signal3" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector3" Ports [1, 1] Position [630, 76, 635, 114] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal2" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector4" Ports [1, 2] Position [130, 182, 135, 293] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal1,signal2" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector5" Ports [1, 2] Position [520, 464, 525, 586] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal1,signal2" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector6" Ports [1, 2] Position [555, 151, 560, 229] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal3,signal4" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Constant Name "Constant2" Position [680, 17, 830, 53] ShowName off Value "(Mc+Mp)*Ip+Mc*Mp*lp^2" } Block { BlockType Math Name "Math\nFunction" Ports [1, 1] Position [655, 410, 685, 440] ShowName off Operator "square" } Block { BlockType Math Name "Math\nFunction1" Ports [1, 1] Position [685, 80, 715, 110] ShowName off Operator "square" } Block { BlockType Product Name "Product1" Ports [2, 1] Position [720, 364, 730, 446] ShowName off } Block { BlockType Product Name "Product2" Ports [2, 1] Position [715, 149, 725, 231] ShowName off } Block { BlockType Product Name "Product3" Ports [2, 1] Position [735, 249, 745, 331] ShowName off } Block { BlockType Product Name "Product4" Ports [2, 1] Position [890, 110, 905, 170] ShowName off Inputs "/*" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [840, 85, 860, 105] Orientation "down" NamePlacement "alternate" ShowName off IconShape "round" Inputs "++|" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [775, 280, 795, 300] Orientation "down" NamePlacement "alternate" ShowName off IconShape "round" Inputs "+-|" } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [775, 485, 795, 505] Orientation "up" NamePlacement "alternate" ShowName off IconShape "round" Inputs "+-|" } Block { BlockType Sum Name "Sum7" Ports [3, 1] Position [770, 390, 800, 420] ShowName off IconShape "round" Inputs "+|-|+" } Block { BlockType Gain Name "Voltage\nto\nCurrent1" Position [555, 353, 700, 417] ShowName off Gain " (Mp^2*lp^3+Ip*Mp*lp)" } Block { BlockType Gain Name "Voltage\nto\nCurrent2" Position [625, 285, 715, 335] ShowName off Gain " Mp^2*lp^2*g" } Block { BlockType Gain Name "Voltage\nto\nCurrent3" Position [735, 72, 815, 118] ShowName off Gain " Mp^2*lp^2" } Block { BlockType Gain Name "Voltage\nto\nCurrent4" Position [650, 525, 765, 585] ShowName off Gain " Beq*(Mp*lp^2+Ip)" } Block { BlockType Gain Name "Voltage\nto\nCurrent5" Position [620, 149, 695, 191] ShowName off Gain " Bp*Mp*lp" } Block { BlockType Gain Name "Voltage\nto\nCurrent6" Position [590, 472, 680, 518] ShowName off Gain " Mp*lp^2+Ip" } Block { BlockType SubSystem Name "alpha_ddot EOM" Ports [2, 4] Position [195, 183, 330, 292] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "alpha_ddot EOM" Location [4, 74, 946, 594] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Fc (N)" Position [70, 298, 100, 312] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "xc_dot (m/s)" Position [50, 438, 80, 452] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Integrator Name "Acceleratio\nto\nVelocity1" Ports [1, 1] Position [550, 260, 580, 290] ShowName off InitialCondition "IC_ALPHA0" } Block { BlockType Integrator Name "Acceleration\nto\nVelocity" Ports [1, 1] Position [485, 260, 515, 290] ShowName off } Block { BlockType BusCreator Name "Bus\nCreator" Ports [4, 1] Position [750, 182, 760, 333] ShowName off DialogController "Simulink.DDGSource_Bus" DisplayOption "bar" } Block { BlockType BusSelector Name "Bus\nSelector1" Ports [1, 3] Position [745, 412, 750, 498] Orientation "left" ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal2,signal3,signal4" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 3 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector2" Ports [1, 2] Position [625, 51, 630, 224] Orientation "left" ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal3,signal2" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType BusSelector Name "Bus\nSelector3" Ports [1, 4] Position [835, 185, 840, 330] ShowName off DialogController "Simulink.DDGSource_Bus" OutputSignals "signal1,signal2,signal3,signal4" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 3 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } Port { PortNumber 4 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Constant Name "Constant2" Position [335, 114, 460, 146] Orientation "left" ShowName off Value "(Mc+Mp)*Ip+Mc*Mp*lp^2" } Block { BlockType Derivative Name "Derivative1" Position [690, 295, 720, 325] ShowName off } Block { BlockType Math Name "Math\nFunction" Ports [1, 1] Position [550, 470, 580, 500] Orientation "left" ShowName off Operator "square" } Block { BlockType Math Name "Math\nFunction1" Ports [1, 1] Position [465, 165, 495, 195] Orientation "left" ShowName off Operator "square" } Block { BlockType Product Name "Product1" Ports [2, 1] Position [205, 390, 215, 465] ShowName off } Block { BlockType Product Name "Product2" Ports [2, 1] Position [190, 250, 200, 325] ShowName off } Block { BlockType Product Name "Product3" Ports [3, 1] Position [475, 408, 485, 502] Orientation "left" ShowName off Inputs "3" } Block { BlockType Product Name "Product4" Ports [2, 1] Position [390, 238, 405, 307] ShowName off Inputs "/*" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [315, 280, 335, 300] ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [295, 170, 315, 190] Orientation "down" NamePlacement "alternate" ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [240, 280, 260, 300] ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Sum Name "Sum5" Ports [3, 1] Position [405, 440, 435, 470] Orientation "left" ShowName off IconShape "round" Inputs "+|-|-" } Block { BlockType Trigonometry Name "Trigonometric\nFunction5" Ports [1, 1] Position [690, 260, 720, 290] ShowName off Operator "cos" } Block { BlockType Trigonometry Name "Trigonometric\nFunction6" Ports [1, 1] Position [690, 225, 720, 255] ShowName off } Block { BlockType Gain Name "Voltage\nto\nCurrent" Position [350, 159, 435, 201] Orientation "left" ShowName off Gain " Mp^2*lp^2" } Block { BlockType Gain Name "Voltage\nto\nCurrent1" Position [500, 351, 620, 399] Orientation "left" ShowName off Gain "(Mc+Mp)*Mp*lp*g" } Block { BlockType Gain Name "Voltage\nto\nCurrent2" Position [515, 404, 600, 446] Orientation "left" ShowName off Gain " Mp^2*lp^2" } Block { BlockType Gain Name "Voltage\nto\nCurrent3" Position [115, 252, 170, 288] ShowName off Gain " Mp*lp" } Block { BlockType Gain Name "Voltage\nto\nCurrent4" Position [100, 389, 185, 431] ShowName off Gain " Beq*Mp*lp" } Block { BlockType Gain Name "Voltage\nto\nCurrent5" Position [525, 517, 610, 563] Orientation "left" ShowName off Gain "(Mc+Mp)*Bp" } Block { BlockType Gain Name "Voltage\nto\nCurrent6" Position [615, 258, 650, 292] ShowName off } Block { BlockType Gain Name "Voltage\nto\nCurrent7" Position [430, 258, 465, 292] ShowName off } Block { BlockType Gain Name "Voltage\nto\nCurrent8" Position [130, 288, 165, 322] ShowName off } Block { BlockType Outport Name "alpha" Position [900, 198, 930, 212] IconDisplay "Port number" BusOutputAsStruct off InitialOutput "0" } Block { BlockType Outport Name "sin(a)" Position [900, 233, 930, 247] Port "2" IconDisplay "Port number" BusOutputAsStruct off InitialOutput "0" } Block { BlockType Outport Name "cos(a)" Position [900, 268, 930, 282] Port "3" IconDisplay "Port number" BusOutputAsStruct off InitialOutput "0" } Block { BlockType Outport Name "d(a)/dt" Position [900, 303, 930, 317] Port "4" IconDisplay "Port number" BusOutputAsStruct off InitialOutput "0" } Line { SrcBlock "Sum5" SrcPort 1 Points [-75, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Voltage\nto\nCurrent5" SrcPort 1 Points [-100, 0] DstBlock "Sum5" DstPort 3 } Line { SrcBlock "Voltage\nto\nCurrent1" SrcPort 1 Points [-75, 0] DstBlock "Sum5" DstPort 1 } Line { SrcBlock "Product3" SrcPort 1 DstBlock "Sum5" DstPort 2 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 Points [30, 0] DstBlock "Sum3" DstPort 2 } Line { SrcBlock "Product2" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent4" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "xc_dot (m/s)" SrcPort 1 DstBlock "Product1" DstPort 2 } Line { SrcBlock "Fc (N)" SrcPort 1 DstBlock "Voltage\nto\nCurrent8" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent3" SrcPort 1 DstBlock "Product2" DstPort 1 } Line { Labels [0, 0] SrcBlock "Acceleratio\nto\nVelocity1" SrcPort 1 DstBlock "Voltage\nto\nCurrent6" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector3" SrcPort 4 DstBlock "d(a)/dt" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector3" SrcPort 3 DstBlock "cos(a)" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector3" SrcPort 2 DstBlock "sin(a)" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector3" SrcPort 1 DstBlock "alpha" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 3 Points [0, 0; -95, 0] Branch { Points [0, 55] DstBlock "Voltage\nto\nCurrent5" DstPort 1 } Branch { DstBlock "Math\nFunction" DstPort 1 } } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 2 DstBlock "Product3" DstPort 2 } Line { SrcBlock "Voltage\nto\nCurrent2" SrcPort 1 DstBlock "Product3" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 1 Points [-565, 0; 0, 175] Branch { Points [0, 140] DstBlock "Voltage\nto\nCurrent4" DstPort 1 } Branch { DstBlock "Voltage\nto\nCurrent3" DstPort 1 } } Line { SrcBlock "Bus\nCreator" SrcPort 1 Points [0, 0; 30, 0] Branch { DstBlock "Bus\nSelector3" DstPort 1 } Branch { Points [0, 195] DstBlock "Bus\nSelector1" DstPort 1 } Branch { Points [0, -120] DstBlock "Bus\nSelector2" DstPort 1 } } Line { SrcBlock "Derivative1" SrcPort 1 DstBlock "Bus\nCreator" DstPort 4 } Line { SrcBlock "Trigonometric\nFunction5" SrcPort 1 DstBlock "Bus\nCreator" DstPort 3 } Line { SrcBlock "Trigonometric\nFunction6" SrcPort 1 DstBlock "Bus\nCreator" DstPort 2 } Line { SrcBlock "Constant2" SrcPort 1 Points [-25, 0] DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Math\nFunction1" SrcPort 1 DstBlock "Voltage\nto\nCurrent" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 2 DstBlock "Math\nFunction1" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent" SrcPort 1 DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Product4" DstPort 2 } Line { SrcBlock "Sum2" SrcPort 1 Points [0, 60] DstBlock "Product4" DstPort 1 } Line { SrcBlock "Math\nFunction" SrcPort 1 DstBlock "Product3" DstPort 3 } Line { SrcBlock "Product4" SrcPort 1 DstBlock "Voltage\nto\nCurrent7" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 1 Points [0, 0; -95, 0] Branch { DstBlock "Voltage\nto\nCurrent2" DstPort 1 } Branch { Points [0, -50] DstBlock "Voltage\nto\nCurrent1" DstPort 1 } } Line { SrcBlock "Acceleration\nto\nVelocity" SrcPort 1 DstBlock "Acceleratio\nto\nVelocity1" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent6" SrcPort 1 Points [10, 0] Branch { Points [0, -35] Branch { Points [0, -35] DstBlock "Bus\nCreator" DstPort 1 } Branch { DstBlock "Trigonometric\nFunction6" DstPort 1 } } Branch { Points [0, 35] DstBlock "Derivative1" DstPort 1 } Branch { DstBlock "Trigonometric\nFunction5" DstPort 1 } } Line { SrcBlock "Voltage\nto\nCurrent7" SrcPort 1 DstBlock "Acceleration\nto\nVelocity" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent8" SrcPort 1 DstBlock "Product2" DstPort 2 } Annotation { Name "cos" Position [73, 399] } Annotation { Name "alpha_ddot" Position [451, 258] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "IC: alpha at t=0\nIC_ALPHA0" Position [575, 240] } Annotation { Name "SIP Non-Linear Dynamic Model:\nalph" "a_ddot EOM" Position [350, 33] FontName "Arial" FontSize 16 FontWeight "bold" } Annotation { Name "alpha" Position [641, 258] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "sin" Position [526, 168] } Annotation { Name "cos" Position [83, 259] } Annotation { Name "sin" Position [674, 412] } Annotation { Name "cos" Position [674, 445] } Annotation { Name "d/dt" Position [672, 476] } } } Block { BlockType Outport Name "alpha_dot (rd/s)" Position [380, 353, 410, 367] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "alpha (rd)" Position [390, 98, 420, 112] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "xc_ddot (m/s^2)" Position [940, 133, 970, 147] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Voltage\nto\nCurrent4" SrcPort 1 Points [15, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "Voltage\nto\nCurrent6" SrcPort 1 DstBlock "Sum5" DstPort 1 } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Sum7" DstPort 3 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Sum7" DstPort 1 } Line { SrcBlock "Product3" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Product2" SrcPort 1 Points [55, 0] DstBlock "Sum3" DstPort 2 } Line { SrcBlock "Sum7" SrcPort 1 Points [50, 0; 0, -250] DstBlock "Product4" DstPort 2 } Line { Name "" Labels [1, 1] SrcBlock "Bus\nSelector5" SrcPort 2 DstBlock "Voltage\nto\nCurrent4" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector5" SrcPort 1 DstBlock "Voltage\nto\nCurrent6" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent5" SrcPort 1 DstBlock "Product2" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 2 DstBlock "Voltage\nto\nCurrent2" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 1 DstBlock "Product3" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector6" SrcPort 2 DstBlock "Product2" DstPort 2 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector6" SrcPort 1 DstBlock "Voltage\nto\nCurrent5" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 1 DstBlock "Voltage\nto\nCurrent1" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 2 DstBlock "Math\nFunction" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector4" SrcPort 2 DstBlock "alpha_ddot EOM" DstPort 2 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector4" SrcPort 1 DstBlock "alpha_ddot EOM" DstPort 1 } Line { SrcBlock "Bus\nCreator1" SrcPort 1 Points [0, 0; 10, 0] Branch { Points [0, 285] DstBlock "Bus\nSelector5" DstPort 1 } Branch { DstBlock "Bus\nSelector4" DstPort 1 } } Line { SrcBlock "xc_dot (m/s)" SrcPort 1 DstBlock "Bus\nCreator1" DstPort 2 } Line { SrcBlock "Fc (N)" SrcPort 1 DstBlock "Bus\nCreator1" DstPort 1 } Line { SrcBlock "alpha_ddot EOM" SrcPort 4 Points [10, 0] Branch { DstBlock "Bus\nCreator" DstPort 4 } Branch { Points [0, 85] DstBlock "alpha_dot (rd/s)" DstPort 1 } } Line { SrcBlock "alpha_ddot EOM" SrcPort 3 DstBlock "Bus\nCreator" DstPort 3 } Line { SrcBlock "alpha_ddot EOM" SrcPort 2 DstBlock "Bus\nCreator" DstPort 2 } Line { SrcBlock "alpha_ddot EOM" SrcPort 1 Points [15, 0] Branch { Points [0, -95] DstBlock "alpha (rd)" DstPort 1 } Branch { DstBlock "Bus\nCreator" DstPort 1 } } Line { SrcBlock "Product4" SrcPort 1 DstBlock "xc_ddot (m/s^2)" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Sum7" DstPort 2 } Line { SrcBlock "Constant2" SrcPort 1 Points [15, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Voltage\nto\nCurrent3" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Math\nFunction1" SrcPort 1 DstBlock "Voltage\nto\nCurrent3" DstPort 1 } Line { Name "" Labels [1, 1] SrcBlock "Bus\nSelector3" SrcPort 1 DstBlock "Math\nFunction1" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent2" SrcPort 1 DstBlock "Product3" DstPort 2 } Line { SrcBlock "Math\nFunction" SrcPort 1 DstBlock "Product1" DstPort 2 } Line { SrcBlock "Voltage\nto\nCurrent1" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "Bus\nCreator" SrcPort 1 Points [60, 0] Branch { Points [0, -50] Branch { DstBlock "Bus\nSelector6" DstPort 1 } Branch { Points [0, -95] DstBlock "Bus\nSelector3" DstPort 1 } } Branch { Points [0, 50] Branch { Points [0, 115] DstBlock "Bus\nSelector1" DstPort 1 } Branch { DstBlock "Bus\nSelector2" DstPort 1 } } } Line { SrcBlock "Sum2" SrcPort 1 Points [0, 15] DstBlock "Product4" DstPort 1 } Annotation { Name "xc_dot" Position [163, 257] } Annotation { Name "Fc" Position [160, 199] } Annotation { Name "xc_dot" Position [583, 547] } Annotation { Name "Fc" Position [550, 484] } Annotation { Name "d/dt" Position [588, 201] } Annotation { Name "cos" Position [596, 160] } Annotation { Name "Pendulum Angle" Position [407, 84] FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "sin" Position [668, 88] } Annotation { Name "cos" Position [591, 300] } Annotation { Name "sin" Position [593, 260] } Annotation { Name "sin" Position [513, 377] } Annotation { Name "d/dt" Position [513, 416] } Annotation { Name "SIP Non-Linear Dynamic Model:\nxc_ddot " "EOM" Position [190, 68] FontName "Arial" FontSize 16 FontWeight "bold" } } } Block { BlockType Outport Name "xc (m)" Position [970, 238, 1000, 252] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "alpha (rd)" Position [770, 183, 800, 197] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "xc_dot (m/s)" Position [965, 308, 995, 322] Port "3" IconDisplay "Port number" BusOutputAsStruct off InitialOutput "0" } Block { BlockType Outport Name "alpha_dot (rd/s)" Position [770, 128, 800, 142] Port "4" IconDisplay "Port number" BusOutputAsStruct off InitialOutput "0" } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Voltage\nto\nCurrent" DstPort 1 } Line { SrcBlock "Voltage\nto\nCurrent" SrcPort 1 DstBlock "UPM Current\nSaturation\n" DstPort 1 } Line { SrcBlock "Acceleration\nto\nVelocity" SrcPort 1 Points [0, 0; 35, 0] Branch { Points [0, 70] Branch { DstBlock "xc_dot (m/s)" DstPort 1 } Branch { Points [-345, 0; 0, -85] DstBlock "xc_ddot EOM" DstPort 2 } Branch { Points [0, 65] DstBlock "Back EMF1" DstPort 1 } } Branch { DstBlock "Velocity \nto \nPosition" DstPort 1 } } Line { SrcBlock "Back EMF1" SrcPort 1 DstBlock "Back EMF" DstPort 1 } Line { SrcBlock "Vm (V)" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Velocity \nto \nPosition" SrcPort 1 DstBlock "xc (m)" DstPort 1 } Line { SrcBlock "Back EMF" SrcPort 1 Points [-280, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "UPM Current\nSaturation\n" SrcPort 1 DstBlock "Current\nto\nForce" DstPort 1 } Line { SrcBlock "Current\nto\nForce" SrcPort 1 DstBlock "xc_ddot EOM" DstPort 1 } Line { SrcBlock "xc_ddot EOM" SrcPort 3 DstBlock "Acceleration\nto\nVelocity" DstPort 1 } Line { SrcBlock "xc_ddot EOM" SrcPort 1 DstBlock "alpha_dot (rd/s)" DstPort 1 } Line { SrcBlock "xc_ddot EOM" SrcPort 2 DstBlock "alpha (rd)" DstPort 1 } Annotation { Name "SIP-plus-IP01-or-IP02 System:\nNon-Linear M" "odel" Position [180, 53] FontName "Arial" FontSize 16 FontWeight "bold" } Annotation { Name "Fc" Position [518, 141] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "Im" Position [303, 135] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "Eemf" Position [307, 361] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "wm" Position [511, 360] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "xc_dot" Position [836, 233] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "xc_ddot" Position [731, 233] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "xc" Position [938, 235] FontName "Times New Roman" FontSize 12 FontWeight "bold" } Annotation { Name "Cart Position" Position [992, 215] FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "Cart Pendulum Angle" Position [787, 169] FontName "Arial" FontSize 12 FontWeight "bold" } } } Block { BlockType SubSystem Name "Scopes" Ports [2, 2] Position [705, 52, 785, 203] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Scopes" Location [131, 221, 744, 552] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xc_des" Position [215, 88, 245, 102] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "X_eom" Position [30, 178, 60, 192] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [325, 70, 330, 165] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Reference Name "Radians\nto Degrees" Ports [1, 1] Position [315, 220, 345, 250] SourceBlock "simulink_extras/Transformations/Radians\nto" " Degrees" SourceType "RadiansToDegrees" ShowPortLabels on } Block { BlockType Gain Name "[ 1; 1; 0; 0 ]1" Position [125, 118, 220, 162] ShowName off Gain " [1 0 0 0]" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "[ 1; 1; 0; 0 ]2" Position [140, 213, 235, 257] ShowName off Gain " [0 1 0 0]" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "m To mm" Position [365, 103, 405, 137] Gain " 1e3" } Block { BlockType Outport Name "xc (mm)" Position [440, 113, 470, 127] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "alpha (deg)" Position [470, 228, 500, 242] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Mux" SrcPort 1 DstBlock "m To mm" DstPort 1 } Line { SrcBlock "m To mm" SrcPort 1 DstBlock "xc (mm)" DstPort 1 } Line { SrcBlock "[ 1; 1; 0; 0 ]1" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "xc_des" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "X_eom" SrcPort 1 Points [0, 0; 30, 0] Branch { Points [0, -45] DstBlock "[ 1; 1; 0; 0 ]1" DstPort 1 } Branch { Points [0, 50] DstBlock "[ 1; 1; 0; 0 ]2" DstPort 1 } } Line { SrcBlock "Radians\nto Degrees" SrcPort 1 DstBlock "alpha (deg)" DstPort 1 } Line { SrcBlock "[ 1; 1; 0; 0 ]2" SrcPort 1 DstBlock "Radians\nto Degrees" DstPort 1 } Annotation { Name "xc_eom" Position [298, 133] FontName "Arial" } Annotation { Name "State Selection" Position [182, 172] } Annotation { Name "alpha_eom" Position [273, 223] FontName "Arial" } Annotation { Name "xc_d" Position [298, 83] FontName "Arial" } Annotation { Name "Scopes" Position [284, 29] FontName "Arial" FontSize 16 FontWeight "bold" } } } Block { BlockType Gain Name "Setpoint\nAmplitude (m)" Position [115, 186, 165, 234] Gain "20e-3" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [285, 195, 315, 225] ShowName off IconShape "round" Inputs "|-+" } Block { BlockType ToWorkspace Name "To Workspace2" Position [140, 20, 200, 50] VariableName "t" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Saturate Name "UPM Voltage\nSaturation" Position [350, 195, 380, 225] UpperLimit "VMAX_UPM" LowerLimit "- VMAX_UPM" } Block { BlockType Scope Name "alpha (deg)" Ports [1] Position [810, 150, 840, 180] Location [242, 230, 1019, 762] Open off NumInputPorts "1" TickLabels "on" List { ListType AxesTitles axes1 "%" } TimeRange "5" YMin "-1" YMax "1" SaveName "ScopeData4" DataFormat "Array" LimitDataPoints off } Block { BlockType Scope Name "xc (mm)" Ports [1] Position [810, 75, 840, 105] Location [217, 83, 994, 615] Open off NumInputPorts "1" TickLabels "on" List { ListType AxesTitles axes1 "%" } TimeRange "5" YMin "-110" YMax "100" SaveName "ScopeData3" DataFormat "Array" LimitDataPoints off } Line { SrcBlock "UPM Voltage\nSaturation" SrcPort 1 Points [-10, 0; 25, 0] Branch { DstBlock "SIP + IP01_2:\nNon-Linear EOM" DstPort 1 } Branch { Points [0, -80] DstBlock "Control Effort:\nVm (V)" DstPort 1 } } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "UPM Voltage\nSaturation" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 Points [5, 0] Branch { Points [0, -45] DstBlock "Scopes" DstPort 2 } Branch { Points [0, 100] DstBlock "\n2" DstPort 1 } } Line { SrcBlock "Position\nSetpoint" SrcPort 1 DstBlock "Setpoint\nAmplitude (m)" DstPort 1 } Line { SrcBlock "Setpoint\nAmplitude (m)" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "(/m)3" DstPort 1 } Branch { Points [0, -120; 420, 0] Branch { DstBlock "Scopes" DstPort 1 } Branch { Points [0, -40] DstBlock "\n" DstPort 1 } } } Line { SrcBlock "Compensator" SrcPort 1 Points [-120, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "(/m)3" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "SIP + IP01_2:\nNon-Linear EOM" SrcPort 1 Points [5, 0] Branch { DstBlock "Mux2" DstPort 1 } Branch { Points [0, 205] DstBlock "Compensator" DstPort 1 } } Line { SrcBlock "SIP + IP01_2:\nNon-Linear EOM" SrcPort 2 Points [15, 0] Branch { DstBlock "Mux2" DstPort 2 } Branch { Points [0, 200] DstBlock "Compensator" DstPort 2 } } Line { SrcBlock "SIP + IP01_2:\nNon-Linear EOM" SrcPort 3 DstBlock "Mux2" DstPort 3 } Line { SrcBlock "SIP + IP01_2:\nNon-Linear EOM" SrcPort 4 DstBlock "Mux2" DstPort 4 } Line { SrcBlock "Clock" SrcPort 1 DstBlock "To Workspace2" DstPort 1 } Line { SrcBlock "Scopes" SrcPort 1 Points [0, 0] DstBlock "xc (mm)" DstPort 1 } Line { SrcBlock "Scopes" SrcPort 2 DstBlock "alpha (deg)" DstPort 1 } Annotation { Name "SIP-plus-IP01-or-IP02 System Simulation:\nLQR T" "uning" Position [434, 39] FontName "Arial" FontSize 16 FontWeight "bold" } Annotation { Name "u = Vm" Position [450, 198] FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "X = [ xc; alpha; xc_dot; alpha_dot ]" Position [498, 308] FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "Position Setpoint (m)" Position [104, 169] FontName "Arial" FontSize 12 FontWeight "bold" } } }