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Location [38, 82, 867, 339]
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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 Constant
Name "Constant1"
SID 193
Position [285, 30, 315, 60]
Value "0.1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 194
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 195
Position [45, 125, 75, 155]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 316
Position [15, 218, 80, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 196
Ports [2, 1]
Position [395, 42, 425, 73]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 197
Ports [2, 1]
Position [200, 172, 230, 203]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 198
Ports [2, 1]
Position [275, 115, 295, 135]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 199
Ports [1, 1]
Position [320, 175, 350, 205]
}
Block {
BlockType Outport
Name "q2"
SID 200
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "q2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [50, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
Labels [1, 0]
SrcBlock "Constant1"
SrcPort 1
Points [60, 0]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
SID 201
Ports [0, 1]
Position [25, 180, 65, 240]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem1"
Location [535, 178, 1155, 435]
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 Constant
Name "Constant2"
SID 203
Position [300, 15, 330, 45]
Value "0.1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 204
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 205
Position [80, 115, 110, 145]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 315
Position [60, 198, 125, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 206
Ports [2, 1]
Position [410, 22, 440, 53]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 207
Ports [2, 1]
Position [215, 152, 245, 183]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 208
Ports [2, 1]
Position [290, 95, 310, 115]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 209
Ports [1, 1]
Position [335, 155, 365, 185]
}
Block {
BlockType Outport
Name "q3"
SID 210
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "q3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [35, 0; 0, 30]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant2"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem2"
SID 211
Ports [0, 1]
Position [30, 320, 70, 380]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem2"
Location [378, 229, 1027, 631]
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 Constant
Name "Constant1"
SID 213
Position [240, 115, 290, 165]
Value "0.1*2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 214
Position [20, 215, 50, 245]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 322
Position [15, 303, 80, 327]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 215
Ports [2, 1]
Position [370, 132, 400, 163]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 216
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 217
Ports [1, 1]
Position [295, 265, 325, 295]
Operator "cos"
}
Block {
BlockType Outport
Name "qd1"
SID 218
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "qd1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -30]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem3"
SID 219
Ports [0, 1]
Position [25, 25, 65, 85]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem3"
Location [366, 265, 1015, 667]
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 Constant
Name "Constant1"
SID 221
Position [245, 125, 275, 155]
Value "0.1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 222
Position [75, 220, 105, 250]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 314
Position [15, 303, 80, 327]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 223
Ports [2, 1]
Position [370, 132, 400, 163]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 224
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 225
Ports [1, 1]
Position [295, 265, 325, 295]
}
Block {
BlockType Outport
Name "q1"
SID 226
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "q1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 35]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -30]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem4"
SID 227
Ports [0, 1]
Position [30, 415, 70, 475]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem4"
Location [107, 82, 936, 339]
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 Constant
Name "Constant1"
SID 229
Position [305, 30, 350, 70]
Value "0.1*2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 230
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 231
Position [45, 125, 75, 155]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 321
Position [45, 218, 110, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 232
Ports [2, 1]
Position [395, 42, 425, 73]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 233
Ports [2, 1]
Position [200, 172, 230, 203]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 234
Ports [2, 1]
Position [275, 115, 295, 135]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 235
Ports [1, 1]
Position [320, 175, 350, 205]
Operator "cos"
}
Block {
BlockType Outport
Name "qd2"
SID 236
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qd2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem5"
SID 237
Ports [0, 1]
Position [30, 505, 70, 565]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem5"
Location [535, 178, 1155, 435]
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 Constant
Name "Constant1"
SID 239
Position [315, 15, 360, 55]
Value "0.1*2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 240
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 241
Position [60, 105, 90, 135]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 320
Position [15, 198, 80, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 242
Ports [2, 1]
Position [410, 22, 440, 53]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 243
Ports [2, 1]
Position [215, 152, 245, 183]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 244
Ports [2, 1]
Position [290, 95, 310, 115]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 245
Ports [1, 1]
Position [335, 155, 365, 185]
Operator "cos"
}
Block {
BlockType Outport
Name "qd3"
SID 246
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qd3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [65, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [0, -5]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem6"
SID 247
Ports [0, 1]
Position [35, 610, 75, 670]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem6"
Location [276, 429, 925, 831]
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 Constant
Name "Constant1"
SID 249
Position [220, 112, 290, 168]
Value "-0.1*4*pi^2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 250
Position [20, 215, 50, 245]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 317
Position [15, 308, 80, 332]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 251
Ports [2, 1]
Position [370, 132, 400, 163]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 252
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 253
Ports [1, 1]
Position [295, 265, 325, 295]
}
Block {
BlockType Outport
Name "qdd1"
SID 254
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "qdd1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem7"
SID 255
Ports [0, 1]
Position [35, 705, 75, 765]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem7"
Location [359, 132, 1188, 389]
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 Constant
Name "Constant1"
SID 257
Position [280, 22, 350, 78]
Value "-0.1*4*pi^2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 258
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 259
Position [45, 125, 75, 155]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 318
Position [55, 218, 120, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 260
Ports [2, 1]
Position [395, 42, 425, 73]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 261
Ports [2, 1]
Position [200, 172, 230, 203]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 262
Ports [2, 1]
Position [275, 115, 295, 135]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 263
Ports [1, 1]
Position [320, 175, 350, 205]
}
Block {
BlockType Outport
Name "qdd2"
SID 264
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qdd2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [10, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem8"
SID 265
Ports [0, 1]
Position [40, 790, 80, 850]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem8"
Location [535, 178, 1155, 435]
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 Constant
Name "Constant1"
SID 267
Position [300, 12, 370, 68]
Value "-0.1*4*pi^2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 268
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 269
Position [60, 105, 90, 135]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 319
Position [60, 198, 125, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 270
Ports [2, 1]
Position [410, 22, 440, 53]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 271
Ports [2, 1]
Position [215, 152, 245, 183]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 272
Ports [2, 1]
Position [290, 95, 310, 115]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 273
Ports [1, 1]
Position [335, 155, 365, 185]
}
Block {
BlockType Outport
Name "qdd3"
SID 274
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qdd3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [0, -10]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "q"
SID 275
Position [240, 138, 270, 152]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "qd"
SID 276
Position [245, 448, 275, 462]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "qdd"
SID 277
Position [195, 728, 225, 742]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [0, -15]
DstBlock "qdd"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, -5]
DstBlock "qd"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "q"
DstPort 1
}
Line {
SrcBlock "Subsystem3"
SrcPort 1
Points [35, 0; 0, 50]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
Points [35, 0; 0, -55]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Subsystem2"
SrcPort 1
Points [35, 0; 0, 70]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Subsystem4"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Subsystem5"
SrcPort 1
Points [35, 0; 0, -65]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Subsystem6"
SrcPort 1
Points [35, 0; 0, 70]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Subsystem7"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Subsystem8"
SrcPort 1
Points [35, 0; 0, -60]
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [5, 0; 0, -110]
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [5, 0; 0, -95]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [10, 0; 0, -110]
DstBlock "Mux2"
DstPort 4
}
}
}
Block {
BlockType Constant
Name "Constant"
SID 1318
Position [610, 755, 655, 785]
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
SID 1319
Position [605, 799, 655, 831]
Value "20"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 4390
Position [1160, 920, 1205, 950]
Value "ones(6,1)"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "double"
SampleTime "0.002"
}
Block {
BlockType Constant
Name "Constant4"
SID 1320
Position [615, 843, 655, 877]
Value "10"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Reference
Name "Counter\nLimited"
SID 4389
Ports [0, 1]
Position [1160, 1035, 1190, 1065]
LibraryVersion "1.762"
SourceBlock "simulink/Sources/Counter\nLimited"
SourceType "Counter Limited"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
uplimit "499"
tsamp "0.002"
}
Block {
BlockType Demux
Name "Demux"
SID 4394
Ports [1, 6]
Position [1585, 711, 1590, 889]
ShowName off
Outputs "6"
DisplayOption "bar"
}
Block {
BlockType Demux
Name "Demux1"
SID 4475
Ports [1, 6]
Position [1075, 574, 1080, 686]
ShowName off
Outputs "6"
DisplayOption "bar"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 4355
Position [460, 198, 525, 222]
SampleTime "0.002"
}
Block {
BlockType Display
Name "Display"
SID 4385
Ports [1]
Position [680, 195, 770, 225]
Decimation "1"
Lockdown off
}
Block {
BlockType Gain
Name "Gain1"
SID 4511
Position [520, 125, 550, 155]
BlockMirror on
NamePlacement "alternate"
Gain "(1/13)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain2"
SID 4512
Position [460, 100, 490, 130]
BlockMirror on
NamePlacement "alternate"
Gain "(1/8)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
SID 4513
Position [590, 160, 620, 190]
BlockMirror on
NamePlacement "alternate"
Gain "(1/6)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Mux
Name "Mux"
SID 4354
Ports [3, 1]
Position [605, 236, 610, 274]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
SID 4387
Ports [3, 1]
Position [1695, 379, 1700, 471]
BlockMirror on
NamePlacement "alternate"
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
SID 2292
Ports [3, 1]
Position [315, 241, 320, 319]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux3"
SID 4439
Ports [3, 1]
Position [1035, 577, 1040, 683]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux4"
SID 4473
Ports [3, 1]
Position [990, 751, 995, 869]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux5"
SID 4471
Ports [1, 1]
Position [990, 672, 995, 738]
ShowName off
Inputs "1"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux6"
SID 4431
Ports [2, 1]
Position [1695, 541, 1700, 579]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux7"
SID 4433
Ports [2, 1]
Position [1710, 611, 1715, 649]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux8"
SID 4434
Ports [2, 1]
Position [1725, 676, 1730, 714]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux9"
SID 4477
Ports [6, 1]
Position [1185, 573, 1190, 687]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "RNE "
SID 4722
Ports [3, 1]
Position [220, 358, 340, 422]
BackgroundColor "red"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "This block computes the inverse dynamics by using the\nrecursive Newton Euler algorithm(c"
"omputationally speaking more efficient than Lagrange-Euler's method)\nThe gravity vector has to be set (the grav"
"ity direction has to be taken into account)"
MaskPromptString "Gravity Vector( 0 0 -9.81) |Robot"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVariables "grav=@1;RRed=@2;"
MaskDisplay "port_label('output',1,'Torques')\nport_label('input',1,'q')\nport_label('input',2,'qd')\nport"
"_label('input',3,'qdd')\nfprintf('RNE') "
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "[ 0 0 9.81]|RRedKuKa"
System {
Name "RNE "
Location [265, 341, 775, 553]
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 "q"
SID 4723
Position [25, 33, 55, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qd"
SID 4724
Position [25, 103, 55, 117]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qdd"
SID 4725
Position [25, 163, 55, 177]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux"
SID 4726
Ports [3, 1]
Position [215, 51, 220, 169]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 4727
Ports [1, 1]
Position [90, 25, 150, 55]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 4728
Ports [1, 1]
Position [95, 95, 155, 125]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function2"
SID 4729
Ports [1, 1]
Position [100, 155, 160, 185]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType MATLABFcn
Name "rne"
SID 4730
Ports [1, 1]
Position [255, 96, 430, 124]
MATLABFcn "frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav)"
OutputDimensions "RRed.n"
}
Block {
BlockType Outport
Name "Torque"
SID 4731
Position [455, 103, 485, 117]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "qdd"
SrcPort 1
DstBlock "S-Function2"
DstPort 1
}
Line {
SrcBlock "rne"
SrcPort 1
DstBlock "Torque"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "rne"
DstPort 1
}
Line {
SrcBlock "qd"
SrcPort 1
DstBlock "S-Function1"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 1
Points [40, 0; 0, 30]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "S-Function2"
SrcPort 1
Points [25, 0; 0, -20]
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "Robot"
SID 4623
Ports [2, 4]
Position [470, 332, 575, 408]
BackgroundColor "red"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Robot"
Location [662, 441, 1369, 892]
Open on
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 "Fext"
SID 4624
Position [60, 173, 90, 187]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "tau"
SID 4625
Position [135, 323, 165, 337]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux"
SID 4626
Ports [2, 1]
Position [155, 167, 160, 218]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "RNE 1"
SID 4627
Ports [4, 1]
Position [290, 128, 405, 202]
BackgroundColor "red"
DropShadow on
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "This block computes the inverse dynamics by using the\nrecursive Newton Euler algorithm(computat"
"ionally speaking more efficient than Lagrange-Euler's method)\nThe gravity vector has to be set (the gravity direct"
"ion has to be taken into account)"
MaskPromptString "Gravity Vector ( 0 0 -9.81) |Robot"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVariables "grav=@1;RRed=@2;"
MaskDisplay "port_label('output',1,'Torque')\nport_label('input',1,'q')\nport_label('input',2,'qd')\nport_label("
"'input',3,'qdd')\nport_label('input',4,'Fext')\nfprintf('RNE') "
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "[ 0 0 9.81]|RRedKuKa"
System {
Name "RNE 1"
Location [38, 301, 548, 530]
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 "q"
SID 4628
Position [25, 33, 55, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qd"
SID 4629
Position [25, 103, 55, 117]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qdd"
SID 4630
Position [25, 163, 55, 177]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "FEXT"
SID 4631
Position [25, 208, 55, 222]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux"
SID 4632
Ports [4, 1]
Position [215, 51, 220, 169]
ShowName off
DisplayOption "bar"
}
Block {
BlockType MATLABFcn
Name "rne"
SID 4633
Ports [1, 1]
Position [255, 96, 430, 124]
MATLABFcn "frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav,u(3*RRed.n+1:en"
"d)')-frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav)"
OutputDimensions "RRed.n"
}
Block {
BlockType Outport
Name "Torque"
SID 4634
Position [495, 103, 525, 117]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
Labels [0, 0]
SrcBlock "FEXT"
SrcPort 1
Points [110, 0; 0, -60]
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "qdd"
SrcPort 1
Points [90, 0; 0, -45]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "qd"
SrcPort 1
Points [140, 0]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "q"
SrcPort 1
Points [110, 0; 0, 25]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "rne"
DstPort 1
}
Line {
SrcBlock "rne"
SrcPort 1
DstBlock "Torque"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "ROBOT RRR"
SID 4732
Ports [1, 3]
Position [290, 294, 455, 366]
BackgroundColor "red"
DropShadow on
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "Simulated robot model(Rigid body dynamics)"
MaskPromptString "Position initial conditions q|Velocity initial conditions qd|Robot"
MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
MaskVariables "Ciniciales=@1;Viniciales=@2;RRed=@3;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "[0.0 0.1*sin(pi/4) 0.1 0 0 0 0]|[2*pi*0.1 2*pi*sin(pi/4)*0.1 0 0 0 0 0]|RRedKuKa"
System {
Name "ROBOT RRR"
Location [2, 82, 1261, 876]
Open on
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 "torqueX"
SID 4733
Position [35, 138, 65, 152]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant"
SID 4734
Position [35, 745, 155, 775]
Value "Ciniciales"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
SID 4735
Position [25, 630, 145, 660]
Value "Viniciales"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Integrator
Name "Integrator"
SID 4736
Ports [3, 1]
Position [270, 104, 305, 156]
ExternalReset "falling"
InitialConditionSource "external"
Port {
PortNumber 1
Name "qd"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator1"
SID 4737
Ports [3, 1]
Position [360, 115, 390, 155]
ExternalReset "falling"
InitialConditionSource "external"
Port {
PortNumber 1
Name "q"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Mux
Name "Mux"
SID 4738
Ports [3, 1]
Position [105, 70, 115, 160]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Reset Contidions"
SID 4739
Ports [0, 1]
Position [65, 334, 130, 396]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskPromptString "Period"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskToolTipString "on"
MaskVariables "T=@1;"
MaskDisplay "port_label ('output',1,'FallingReset')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "1"
System {
Name "Reset Contidions"
Location [27, 390, 267, 520]
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 Constant
Name "Constant2"
SID 4740
Position [35, 74, 80, 106]
Value "T"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 4741
Position [25, 28, 90, 52]
SampleTime "0.002"
}
Block {
BlockType Math
Name "Math\nFunction"
SID 4742
Ports [2, 1]
Position [130, 32, 160, 63]
Operator "mod"
OutputSignalType "real"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Out1"
SID 4743
Position [185, 43, 215, 57]
IconDisplay "Port number"
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [30, 0]
DstBlock "Math\nFunction"
DstPort 2
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 4744
Ports [1, 1]
Position [150, 100, 210, 130]
FunctionName "CINDIR"
Parameters "RRed"
EnableBusSupport off
Port {
PortNumber 1
Name "qdd"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 4745
Ports [1, 1]
Position [185, 745, 245, 775]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function2"
SID 4746
Ports [1, 1]
Position [185, 630, 245, 660]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType Outport
Name "joint positions q"
SID 4747
Position [565, 13, 595, 27]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "joint velocities qd"
SID 4748
Position [565, 53, 595, 67]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "joint accelerations qdd"
SID 4749
Position [565, 98, 595, 112]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "torqueX"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
Name "qd"
Labels [0, 0]
SrcBlock "Integrator"
SrcPort 1
Points [15, 0; 0, -10]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, -60]
Branch {
Points [0, -25; -285, 0; 0, 80]
DstBlock "Mux"
DstPort 2
}
Branch {
DstBlock "joint velocities qd"
DstPort 1
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
Line {
Name "qdd"
Labels [0, 0]
SrcBlock "S-Function"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, -25; 310, 0]
DstBlock "joint accelerations qdd"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "S-Function1"
DstPort 1
}
Line {
Name "q"
Labels [0, 0]
SrcBlock "Integrator1"
SrcPort 1
Points [0, -115]
Branch {
Points [-330, 0; 0, 65]
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "joint positions q"
DstPort 1
}
}
Line {
SrcBlock "S-Function1"
SrcPort 1
Points [90, 0; 0, -610]
DstBlock "Integrator1"
DstPort 3
}
Line {
SrcBlock "S-Function2"
SrcPort 1
Points [5, 0]
DstBlock "Integrator"
DstPort 3
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "S-Function2"
DstPort 1
}
Line {
SrcBlock "Reset Contidions"
SrcPort 1
Points [95, 0]
Branch {
Points [105, 0; 0, -230]
DstBlock "Integrator1"
DstPort 2
}
Branch {
Points [0, -235]
DstBlock "Integrator"
DstPort 2
}
}
}
}
Block {
BlockType SubSystem
Name "ROBOT RRR1"
SID 5063
Ports [1, 3]
Position [295, 294, 460, 366]
BackgroundColor "red"
DropShadow on
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "Simulated robot model(Rigid body dynamics)"
MaskPromptString "Position initial conditions q|Velocity initial conditions qd|Robot"
MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
MaskVariables "Ciniciales=@1;Viniciales=@2;RRed=@3;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "[0.0 0.1*sin(pi/4) 0.1 0 0 0 0]|[2*pi*0.1 2*pi*sin(pi/4)*0.1 0 0 0 0 0]|RRedKuKa"
System {
Name "ROBOT RRR1"
Location [2, 82, 1261, 876]
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 "torqueX"
SID 5064
Position [35, 138, 65, 152]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant"
SID 5065
Position [35, 745, 155, 775]
Value "Ciniciales"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
SID 5066
Position [25, 630, 145, 660]
Value "Viniciales"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Integrator
Name "Integrator"
SID 5067
Ports [3, 1]
Position [270, 104, 305, 156]
ExternalReset "falling"
InitialConditionSource "external"
Port {
PortNumber 1
Name "qd"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator1"
SID 5068
Ports [3, 1]
Position [360, 115, 390, 155]
ExternalReset "falling"
InitialConditionSource "external"
Port {
PortNumber 1
Name "q"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Mux
Name "Mux"
SID 5069
Ports [3, 1]
Position [105, 70, 115, 160]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Reset Contidions"
SID 5070
Ports [0, 1]
Position [65, 334, 130, 396]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskPromptString "Period"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskToolTipString "on"
MaskVariables "T=@1;"
MaskDisplay "port_label ('output',1,'FallingReset')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "1"
System {
Name "Reset Contidions"
Location [27, 390, 267, 520]
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 Constant
Name "Constant2"
SID 5071
Position [35, 74, 80, 106]
Value "T"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 5072
Position [25, 28, 90, 52]
SampleTime "0.002"
}
Block {
BlockType Math
Name "Math\nFunction"
SID 5073
Ports [2, 1]
Position [130, 32, 160, 63]
Operator "mod"
OutputSignalType "real"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Out1"
SID 5074
Position [185, 43, 215, 57]
IconDisplay "Port number"
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [30, 0]
DstBlock "Math\nFunction"
DstPort 2
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
}
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 5075
Ports [1, 1]
Position [150, 100, 210, 130]
FunctionName "CINDIR"
Parameters "RRed"
EnableBusSupport off
Port {
PortNumber 1
Name "qdd"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 5076
Ports [1, 1]
Position [185, 745, 245, 775]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function2"
SID 5077
Ports [1, 1]
Position [185, 630, 245, 660]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType Outport
Name "joint positions q"
SID 5078
Position [565, 13, 595, 27]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "joint velocities qd"
SID 5079
Position [565, 53, 595, 67]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "joint accelerations qdd"
SID 5080
Position [565, 98, 595, 112]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Reset Contidions"
SrcPort 1
Points [95, 0]
Branch {
Points [0, -235]
DstBlock "Integrator"
DstPort 2
}
Branch {
Points [105, 0; 0, -230]
DstBlock "Integrator1"
DstPort 2
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "S-Function2"
DstPort 1
}
Line {
SrcBlock "S-Function2"
SrcPort 1
Points [5, 0]
DstBlock "Integrator"
DstPort 3
}
Line {
SrcBlock "S-Function1"
SrcPort 1
Points [90, 0; 0, -610]
DstBlock "Integrator1"
DstPort 3
}
Line {
Name "q"
Labels [0, 0]
SrcBlock "Integrator1"
SrcPort 1
Points [0, -115]
Branch {
DstBlock "joint positions q"
DstPort 1
}
Branch {
Points [-330, 0; 0, 65]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "S-Function1"
DstPort 1
}
Line {
Name "qdd"
Labels [0, 0]
SrcBlock "S-Function"
SrcPort 1
Points [25, 0]
Branch {
Points [0, -25; 310, 0]
DstBlock "joint accelerations qdd"
DstPort 1
}
Branch {
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
Line {
Name "qd"
Labels [0, 0]
SrcBlock "Integrator"
SrcPort 1
Points [15, 0; 0, -10]
Branch {
Points [0, -60]
Branch {
DstBlock "joint velocities qd"
DstPort 1
}
Branch {
Points [0, -25; -285, 0; 0, 80]
DstBlock "Mux"
DstPort 2
}
}
Branch {
DstBlock "Integrator1"
DstPort 1
}
}
Line {
SrcBlock "torqueX"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType Sum
Name "Sum"
SID 4653
Ports [2, 1]
Position [205, 320, 225, 340]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
SID 4721
Position [295, 225, 330, 255]
BlockMirror on
SampleTime "0.002"
}
Block {
BlockType Constant
Name "[Mx My Mz]"
SID 4654
Position [15, 210, 95, 240]
Value "[0 0 0 ]"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "q"
SID 4655
Position [650, 283, 680, 297]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "qd"
SID 4656
Position [650, 318, 680, 332]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "qdd"
SID 4657
Position [650, 348, 680, 362]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "diftorque"
SID 4720
Position [240, 258, 270, 272]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "ROBOT RRR"
SrcPort 1
Points [20, 0]
Branch {
Points [155, 0]
DstBlock "q"
DstPort 1
}
Branch {
Points [0, -260; -260, 0; 0, 90]
DstBlock "RNE 1"
DstPort 1
}
}
Line {
SrcBlock "ROBOT RRR"
SrcPort 2
Points [45, 0]
Branch {
Points [130, 0]
DstBlock "qd"
DstPort 1
}
Branch {
Points [0, -260; -270, 0; 0, 85]
DstBlock "RNE 1"
DstPort 2
}
}
Line {
SrcBlock "ROBOT RRR"
SrcPort 3
Points [65, 0]
Branch {
DstBlock "qdd"
DstPort 1
}
Branch {
Points [0, -245; -250, 0]
DstBlock "RNE 1"
DstPort 3
}
}
Line {
SrcBlock "tau"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "[Mx My Mz]"
SrcPort 1
Points [15, 0; 0, -20]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Fext"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "RNE 1"
DstPort 4
}
Line {
SrcBlock "RNE 1"
SrcPort 1
Points [15, 0; 0, 75]
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "ROBOT RRR"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
Points [-75, 0; 0, 25]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
DstBlock "diftorque"
DstPort 1
}
}
Annotation {
Position [319, 144]
}
}
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 5062
Ports [3, 6]
Position [1275, 939, 1405, 1036]
FunctionName "CerebellumIODCNAbstract"
Parameters "ParamFile NumberOfJoints NumberOfStates WeightFile"
EnableBusSupport off
MaskPromptString "Learning Configuration File|Number Of Joints|Number Of States|Final Weight File"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVariables "ParamFile=@1;NumberOfJoints=@2;NumberOfStates=@3;WeightFile=@4;"
MaskDisplay "image(imread('EDLUTIcon.jpg'));\nport_label('input',1,'MFAct')\nport_label('input',2,'Error')"
"\nport_label('input',3,'State')\nport_label('output',1,'DCNAct')\nport_label('output',2,'PCAct')\nport_label('ou"
"tput',3,'MFWeight')\nport_label('output',4,'PCWeight')\nport_label('output',5,'IOWeight')\nport_label('output',6"
",'KPWeight')\nfprintf('Cerebellum')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "'Parameters.txt'|6|500|'./Register/WeightsNF.dat'"
}
Block {
BlockType SubSystem
Name "Subsystem"
SID 1232
Ports [7, 7]
Position [710, 568, 935, 872]
BackgroundColor "orange"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [90, 82, 1207, 876]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
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Block {
BlockType Constant
Name "Constant"
SID 4915
Position [110, 60, 140, 90]
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Constant
Name "Constant1"
SID 4916
Position [120, 175, 150, 205]
Value "0"
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Switch
Name "Switch3"
SID 4917
Position [210, 125, 240, 155]
Criteria "u2 > Threshold"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Time Firing"
SID 4918
Position [305, 133, 335, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Switch3"
SrcPort 1
DstBlock "Time Firing"
DstPort 1
}
Line {
SrcBlock "Random[a b] & I"
SrcPort 1
DstBlock "Switch3"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Switch3"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [30, 0; 0, 55]
DstBlock "Switch3"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "IO-FIRE2"
SID 4919
Ports [1, 1]
Position [380, 275, 545, 315]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "IO-FIRE2"
Location [335, 381, 1272, 782]
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 "Random[a b] & I"
SID 4920
Position [110, 133, 140, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant"
SID 4921
Position [110, 60, 140, 90]
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Constant
Name "Constant1"
SID 4922
Position [120, 175, 150, 205]
Value "0"
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Switch
Name "Switch3"
SID 4923
Position [210, 125, 240, 155]
Criteria "u2 > Threshold"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Time Firing"
SID 4924
Position [305, 133, 335, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Switch3"
SrcPort 1
DstBlock "Time Firing"
DstPort 1
}
Line {
SrcBlock "Random[a b] & I"
SrcPort 1
DstBlock "Switch3"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Switch3"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [30, 0; 0, 55]
DstBlock "Switch3"
DstPort 1
}
}
}
Block {
BlockType Product
Name "Product"
SID 4925
Ports [3, 1]
Position [165, 219, 195, 251]
Inputs "3"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
SID 4926
Ports [2, 1]
Position [330, 172, 360, 203]
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
LogicDataType "sint(32)"
OutDataTypeStr "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
SID 4927
Ports [2, 1]
Position [320, 277, 350, 308]
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
LogicDataType "sint(32)"
OutDataTypeStr "boolean"
}
Block {
BlockType SubSystem
Name "Subsystem"
SID 4928
Ports [2, 1]
Position [125, 436, 230, 509]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [294, 189, 1023, 652]
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 "Par max"
SID 4929
Position [30, 13, 60, 27]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "error"
SID 4930
Position [30, 48, 60, 62]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux2"
SID 4931
Ports [2, 1]
Position [170, 15, 175, 70]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 4932
Ports [1, 1]
Position [200, 26, 310, 64]
FunctionName "errormanagementmod"
EnableBusSupport off
}
Block {
BlockType Outport
Name "I"
SID 4933
Position [365, 38, 395, 52]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Par max"
SrcPort 1
Points [90, 0]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "error"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "I"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
}
}
Block {
BlockType Constant
Name "a"
SID 4934
Position [55, 189, 110, 221]
Value "firingrate"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "b"
SID 4935
Position [55, 249, 110, 281]
Value "timestep"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType SubSystem
Name "interval[a b]"
SID 4936
Ports [0, 1]
Position [40, 35, 80, 95]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "interval[a b]"
Location [57, 308, 272, 451]
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 Mux
Name "Mux5"
SID 4937
Ports [2, 1]
Position [130, 27, 135, 118]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "a"
SID 4938
Position [25, 34, 80, 66]
Value "a"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "b"
SID 4939
Position [30, 79, 85, 111]
Value "b"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "I"
SID 4940
Position [160, 68, 190, 82]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "a"
SrcPort 1
DstBlock "Mux5"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
DstBlock "Mux5"
DstPort 2
}
Line {
SrcBlock "Mux5"
SrcPort 1
DstBlock "I"
DstPort 1
}
}
}
Block {
BlockType MATLABFcn
Name "random"
SID 4941
Ports [1, 1]
Position [120, 50, 180, 80]
MATLABFcn "u(1) + (u(2)-u(1)).*rand(1)"
}
Block {
BlockType Outport
Name "Time firing"
SID 4942
Position [575, 183, 605, 197]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "I"
SID 4943
Position [285, 463, 315, 477]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time firing1"
SID 4944
Position [575, 288, 605, 302]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "interval[a b]"
SrcPort 1
DstBlock "random"
DstPort 1
}
Line {
SrcBlock " Max Torque Value "
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "error"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [0, -5; 25, 0]
Branch {
DstBlock "I"
DstPort 1
}
Branch {
Points [0, -165; -130, 0; 0, -70]
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock "Demux2"
SrcPort 1
Points [80, 0]
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "Demux2"
SrcPort 2
Points [20, 0; 0, 45]
DstBlock "Relational\nOperator1"
DstPort 2
}
Line {
SrcBlock "a"
SrcPort 1
Points [35, 0]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "IO-FIRE"
DstPort 1
}
Line {
SrcBlock "IO-FIRE"
SrcPort 1
DstBlock "Time firing"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
DstBlock "IO-FIRE2"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Demux2"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
Points [30, 0; 0, -20]
DstBlock "Product"
DstPort 3
}
Line {
SrcBlock "random"
SrcPort 1
Points [10, 0; 0, 45; 70, 0]
Branch {
Points [50, 0]
DstBlock "Relational\nOperator"
DstPort 1
}
Branch {
Points [0, 175]
DstBlock "Relational\nOperator1"
DstPort 1
}
}
Line {
SrcBlock "IO-FIRE2"
SrcPort 1
DstBlock "Time firing1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO"
SID 4945
Ports [1, 8]
Position [985, 80, 1120, 355]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO"
Location [278, 219, 1273, 859]
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 "Time Firing Poisson"
SID 4946
Position [35, 708, 65, 722]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 4947
Position [175, 548, 205, 562]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 4948
Position [175, 593, 205, 607]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 4949
Position [175, 638, 205, 652]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 4950
Position [175, 683, 205, 697]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 4951
Position [175, 728, 205, 742]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 4952
Position [175, 773, 205, 787]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 4953
Position [175, 818, 205, 832]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 4954
Position [175, 863, 205, 877]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -25]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 40]
Branch {
Points [0, 5]
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO1"
SID 4955
Ports [1, 8]
Position [985, 412, 1125, 693]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO1"
Location [2, 82, 997, 722]
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 "Time Firing Poisson"
SID 4956
Position [45, 698, 75, 712]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 4957
Position [235, 538, 265, 552]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 4958
Position [235, 583, 265, 597]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 4959
Position [235, 628, 265, 642]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 4960
Position [230, 673, 260, 687]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 4961
Position [230, 718, 260, 732]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 4962
Position [235, 763, 265, 777]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 4963
Position [235, 808, 265, 822]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 4964
Position [240, 853, 270, 867]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [70, 0; 0, -5]
Branch {
Points [0, -20]
Branch {
Points [0, -45]
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 25]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
Points [0, 45]
DstBlock "TimefiringIO7"
DstPort 1
}
Branch {
DstBlock "TimefiringIO6"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO2"
SID 4965
Ports [1, 8]
Position [985, 714, 1130, 991]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO2"
Location [2, 82, 997, 722]
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 "Time Firing Poisson"
SID 4966
Position [55, 663, 85, 677]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 4967
Position [255, 503, 285, 517]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 4968
Position [250, 548, 280, 562]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 4969
Position [245, 593, 275, 607]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 4970
Position [245, 638, 275, 652]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 4971
Position [245, 683, 275, 697]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 4972
Position [240, 728, 270, 742]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 4973
Position [240, 773, 270, 787]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 4974
Position [240, 818, 270, 832]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -20]
Branch {
Points [0, -50]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
Points [0, -5]
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 40]
Branch {
Points [0, 5]
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
Points [0, 5]
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO3"
SID 4975
Ports [1, 8]
Position [990, 1015, 1130, 1300]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO3"
Location [2, 82, 997, 722]
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 "Time Firing Poisson"
SID 4976
Position [30, 678, 60, 692]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 4977
Position [225, 518, 255, 532]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 4978
Position [230, 563, 260, 577]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 4979
Position [235, 608, 265, 622]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 4980
Position [235, 653, 265, 667]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 4981
Position [235, 698, 265, 712]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 4982
Position [240, 743, 270, 757]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 4983
Position [245, 788, 275, 802]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 4984
Position [245, 833, 275, 847]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [40, 0]
Branch {
Points [0, -25]
Branch {
Points [0, -40]
Branch {
Points [0, -55]
Branch {
Points [0, -40]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
Points [0, 5]
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
Points [0, -5]
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO4"
SID 4985
Ports [1, 8]
Position [985, 1319, 1130, 1641]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO4"
Location [432, 100, 1427, 740]
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 "Time Firing Poisson"
SID 4986
Position [30, 678, 60, 692]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 4987
Position [225, 518, 255, 532]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 4988
Position [230, 563, 260, 577]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 4989
Position [235, 608, 265, 622]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 4990
Position [235, 653, 265, 667]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 4991
Position [235, 698, 265, 712]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 4992
Position [240, 743, 270, 757]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 4993
Position [245, 788, 275, 802]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 4994
Position [245, 833, 275, 847]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [60, 0]
Branch {
Points [0, -30]
Branch {
Points [0, -40]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
Points [0, 5]
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO5"
SID 4995
Ports [1, 8]
Position [985, 1672, 1130, 2023]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO5"
Location [2, 82, 997, 722]
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 "Time Firing Poisson"
SID 4996
Position [30, 678, 60, 692]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 4997
Position [225, 518, 255, 532]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 4998
Position [230, 563, 260, 577]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 4999
Position [235, 608, 265, 622]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 5000
Position [235, 653, 265, 667]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 5001
Position [235, 698, 265, 712]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 5002
Position [240, 743, 270, 757]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 5003
Position [245, 788, 275, 802]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 5004
Position [245, 833, 275, 847]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -25]
Branch {
Points [0, -40]
Branch {
Points [0, -50]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
Points [0, -5]
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 15]
Branch {
Points [0, 5]
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 50]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 40]
Branch {
Points [0, 5]
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType Outport
Name "Iout Poisson1"
SID 5005
Position [905, 258, 935, 272]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson2"
SID 5006
Position [875, 543, 905, 557]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson3"
SID 5007
Position [845, 968, 875, 982]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO0"
SID 5008
Position [1220, 88, 1250, 102]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO1"
SID 5009
Position [1220, 123, 1250, 137]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO2"
SID 5010
Position [1220, 158, 1250, 172]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO3"
SID 5011
Position [1220, 193, 1250, 207]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO4"
SID 5012
Position [1220, 228, 1250, 242]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO5"
SID 5013
Position [1220, 263, 1250, 277]
Port "9"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO6"
SID 5014
Position [1220, 298, 1250, 312]
Port "10"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO7"
SID 5015
Position [1220, 333, 1250, 347]
Port "11"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO8"
SID 5016
Position [1260, 423, 1290, 437]
Port "12"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO9"
SID 5017
Position [1260, 458, 1290, 472]
Port "13"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO10"
SID 5018
Position [1260, 493, 1290, 507]
Port "14"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO11"
SID 5019
Position [1260, 528, 1290, 542]
Port "15"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO12"
SID 5020
Position [1260, 568, 1290, 582]
Port "16"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO13"
SID 5021
Position [1260, 598, 1290, 612]
Port "17"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO14"
SID 5022
Position [1260, 633, 1290, 647]
Port "18"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO15"
SID 5023
Position [1265, 668, 1295, 682]
Port "19"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO16"
SID 5024
Position [1265, 723, 1295, 737]
Port "20"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO17"
SID 5025
Position [1265, 758, 1295, 772]
Port "21"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO18"
SID 5026
Position [1265, 793, 1295, 807]
Port "22"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO19"
SID 5027
Position [1265, 828, 1295, 842]
Port "23"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO20"
SID 5028
Position [1265, 863, 1295, 877]
Port "24"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO21"
SID 5029
Position [1270, 898, 1300, 912]
Port "25"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO22"
SID 5030
Position [1270, 933, 1300, 947]
Port "26"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO23"
SID 5031
Position [1270, 968, 1300, 982]
Port "27"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO24"
SID 5032
Position [1290, 1028, 1320, 1042]
Port "28"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO25"
SID 5033
Position [1290, 1063, 1320, 1077]
Port "29"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO26"
SID 5034
Position [1290, 1098, 1320, 1112]
Port "30"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO27"
SID 5035
Position [1290, 1133, 1320, 1147]
Port "31"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO28"
SID 5036
Position [1290, 1168, 1320, 1182]
Port "32"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO29"
SID 5037
Position [1290, 1203, 1320, 1217]
Port "33"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO30"
SID 5038
Position [1290, 1238, 1320, 1252]
Port "34"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO31"
SID 5039
Position [1295, 1273, 1325, 1287]
Port "35"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO32"
SID 5040
Position [1275, 1333, 1305, 1347]
Port "36"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO33"
SID 5041
Position [1275, 1373, 1305, 1387]
Port "37"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO34"
SID 5042
Position [1280, 1413, 1310, 1427]
Port "38"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO35"
SID 5043
Position [1275, 1453, 1305, 1467]
Port "39"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO36"
SID 5044
Position [1275, 1493, 1305, 1507]
Port "40"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO37"
SID 5045
Position [1280, 1533, 1310, 1547]
Port "41"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO38"
SID 5046
Position [1280, 1573, 1310, 1587]
Port "42"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO39"
SID 5047
Position [1275, 1613, 1305, 1627]
Port "43"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO40"
SID 5048
Position [1275, 1683, 1305, 1697]
Port "44"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO41"
SID 5049
Position [1275, 1728, 1305, 1742]
Port "45"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO42"
SID 5050
Position [1275, 1773, 1305, 1787]
Port "46"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO43"
SID 5051
Position [1275, 1818, 1305, 1832]
Port "47"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO44"
SID 5052
Position [1275, 1863, 1305, 1877]
Port "48"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO45"
SID 5053
Position [1280, 1908, 1310, 1922]
Port "49"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO46"
SID 5054
Position [1285, 1953, 1315, 1967]
Port "50"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO47"
SID 5055
Position [1285, 1998, 1315, 2012]
Port "51"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Poisson1 IO"
SrcPort 1
Points [90, 0]
DstBlock "bloque1 IO"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO"
SrcPort 3
Points [85, 0; 0, 265]
DstBlock "bloque1 IO1"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson1"
SrcPort 1
DstBlock "Poisson1 IO"
DstPort 1
}
Line {
SrcBlock "Error Poisson1"
SrcPort 1
DstBlock "Poisson1 IO"
DstPort 2
}
Line {
SrcBlock "Poisson1 IO"
SrcPort 2
DstBlock "Iout Poisson1"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson2"
SrcPort 1
Points [35, 0]
DstBlock "Poisson1 IO1"
DstPort 1
}
Line {
SrcBlock "Error Poisson2"
SrcPort 1
DstBlock "Poisson1 IO1"
DstPort 2
}
Line {
SrcBlock "Poisson1 IO1"
SrcPort 3
Points [70, 0; 0, 585]
DstBlock "bloque1 IO3"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 1
DstBlock "Time Firing IO8"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 2
DstBlock "Time Firing IO9"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 3
DstBlock "Time Firing IO10"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 4
DstBlock "Time Firing IO11"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 5
Points [115, 0]
DstBlock "Time Firing IO12"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 6
DstBlock "Time Firing IO13"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 7
DstBlock "Time Firing IO14"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 8
DstBlock "Time Firing IO15"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 1
DstBlock "Time Firing IO16"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 2
DstBlock "Time Firing IO17"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 3
DstBlock "Time Firing IO18"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 4
DstBlock "Time Firing IO19"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 5
DstBlock "Time Firing IO20"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 6
DstBlock "Time Firing IO21"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 7
DstBlock "Time Firing IO22"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 8
DstBlock "Time Firing IO23"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 2
DstBlock "Time Firing IO25"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 3
DstBlock "Time Firing IO26"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 4
DstBlock "Time Firing IO27"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 5
DstBlock "Time Firing IO28"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 6
DstBlock "Time Firing IO29"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 7
DstBlock "Time Firing IO30"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 8
DstBlock "Time Firing IO31"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 1
DstBlock "Time Firing IO24"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson3"
SrcPort 1
DstBlock "Poisson1 IO2"
DstPort 1
}
Line {
SrcBlock "Error Poisson3"
SrcPort 1
DstBlock "Poisson1 IO2"
DstPort 2
}
Line {
SrcBlock "Poisson1 IO2"
SrcPort 2
DstBlock "Iout Poisson3"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO2"
SrcPort 1
Points [70, 0; 0, 530]
DstBlock "bloque1 IO4"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO2"
SrcPort 3
Points [25, 0; 0, 850]
DstBlock "bloque1 IO5"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 1
DstBlock "Time Firing IO40"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 2
DstBlock "Time Firing IO41"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 3
DstBlock "Time Firing IO42"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 4
DstBlock "Time Firing IO43"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 5
DstBlock "Time Firing IO44"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 6
DstBlock "Time Firing IO45"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 7
DstBlock "Time Firing IO46"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 8
DstBlock "Time Firing IO47"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO1"
SrcPort 2
DstBlock "Iout Poisson2"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO1"
SrcPort 1
Points [80, 0; 0, 330]
DstBlock "bloque1 IO2"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 1
DstBlock "Time Firing IO0"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 2
DstBlock "Time Firing IO1"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 3
DstBlock "Time Firing IO2"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 4
DstBlock "Time Firing IO3"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 5
DstBlock "Time Firing IO4"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 6
DstBlock "Time Firing IO5"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 7
DstBlock "Time Firing IO6"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 8
DstBlock "Time Firing IO7"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 1
DstBlock "Time Firing IO32"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 2
DstBlock "Time Firing IO33"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 3
DstBlock "Time Firing IO34"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 4
DstBlock "Time Firing IO35"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 5
DstBlock "Time Firing IO36"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 6
DstBlock "Time Firing IO37"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 7
DstBlock "Time Firing IO38"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 8
DstBlock "Time Firing IO39"
DstPort 1
}
}
}
Block {
BlockType Mux
Name "Mux10"
SID 5056
Ports [48, 1]
Position [510, 186, 520, 1134]
ShowName off
Inputs "48"
DisplayOption "bar"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
SID 5057
Position [635, 645, 670, 675]
SampleTime "0.002"
}
Block {
BlockType Outport
Name "Time firing 48 IO"
SID 5058
Position [765, 653, 795, 667]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson1"
SID 5059
Position [455, 88, 485, 102]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson2"
SID 5060
Position [460, 123, 490, 137]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson3"
SID 5061
Position [460, 163, 490, 177]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock " Max Torque Value Poisson1"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 1
}
Line {
SrcBlock "Error poisson1"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 2
}
Line {
SrcBlock " Max Torque Value Poisson2"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 3
}
Line {
SrcBlock "Error Poisson2"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 4
}
Line {
SrcBlock "IO Subsystem "
SrcPort 1
Points [25, 0]
DstBlock "Iout Poisson1"
DstPort 1
}
Line {
SrcBlock "IO Subsystem "
SrcPort 2
Points [30, 0]
DstBlock "Iout Poisson2"
DstPort 1
}
Line {
SrcBlock "IO Subsystem "
SrcPort 3
DstBlock "Iout Poisson3"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson3"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 5
}
Line {
SrcBlock "Error Poisson3"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 6
}
Line {
SrcBlock "IO Subsystem "
SrcPort 51
DstBlock "Mux10"
DstPort 48
}
Line {
SrcBlock "IO Subsystem "
SrcPort 4
DstBlock "Mux10"
DstPort 1
}
Line {
SrcBlock "IO Subsystem "
SrcPort 5
DstBlock "Mux10"
DstPort 2
}
Line {
SrcBlock "IO Subsystem "
SrcPort 6
DstBlock "Mux10"
DstPort 3
}
Line {
SrcBlock "IO Subsystem "
SrcPort 7
DstBlock "Mux10"
DstPort 4
}
Line {
SrcBlock "IO Subsystem "
SrcPort 8
DstBlock "Mux10"
DstPort 5
}
Line {
SrcBlock "IO Subsystem "
SrcPort 9
DstBlock "Mux10"
DstPort 6
}
Line {
SrcBlock "IO Subsystem "
SrcPort 10
DstBlock "Mux10"
DstPort 7
}
Line {
SrcBlock "IO Subsystem "
SrcPort 11
DstBlock "Mux10"
DstPort 8
}
Line {
SrcBlock "IO Subsystem "
SrcPort 12
DstBlock "Mux10"
DstPort 9
}
Line {
SrcBlock "IO Subsystem "
SrcPort 13
DstBlock "Mux10"
DstPort 10
}
Line {
SrcBlock "IO Subsystem "
SrcPort 14
DstBlock "Mux10"
DstPort 11
}
Line {
SrcBlock "IO Subsystem "
SrcPort 15
DstBlock "Mux10"
DstPort 12
}
Line {
SrcBlock "IO Subsystem "
SrcPort 16
DstBlock "Mux10"
DstPort 13
}
Line {
SrcBlock "IO Subsystem "
SrcPort 17
DstBlock "Mux10"
DstPort 14
}
Line {
SrcBlock "IO Subsystem "
SrcPort 18
DstBlock "Mux10"
DstPort 15
}
Line {
SrcBlock "IO Subsystem "
SrcPort 19
DstBlock "Mux10"
DstPort 16
}
Line {
SrcBlock "IO Subsystem "
SrcPort 20
DstBlock "Mux10"
DstPort 17
}
Line {
SrcBlock "IO Subsystem "
SrcPort 21
DstBlock "Mux10"
DstPort 18
}
Line {
SrcBlock "IO Subsystem "
SrcPort 22
DstBlock "Mux10"
DstPort 19
}
Line {
SrcBlock "IO Subsystem "
SrcPort 23
DstBlock "Mux10"
DstPort 20
}
Line {
SrcBlock "IO Subsystem "
SrcPort 24
DstBlock "Mux10"
DstPort 21
}
Line {
SrcBlock "IO Subsystem "
SrcPort 50
DstBlock "Mux10"
DstPort 47
}
Line {
SrcBlock "IO Subsystem "
SrcPort 49
DstBlock "Mux10"
DstPort 46
}
Line {
SrcBlock "IO Subsystem "
SrcPort 48
DstBlock "Mux10"
DstPort 45
}
Line {
SrcBlock "IO Subsystem "
SrcPort 47
DstBlock "Mux10"
DstPort 44
}
Line {
SrcBlock "IO Subsystem "
SrcPort 46
DstBlock "Mux10"
DstPort 43
}
Line {
SrcBlock "IO Subsystem "
SrcPort 45
DstBlock "Mux10"
DstPort 42
}
Line {
SrcBlock "IO Subsystem "
SrcPort 44
DstBlock "Mux10"
DstPort 41
}
Line {
SrcBlock "IO Subsystem "
SrcPort 43
DstBlock "Mux10"
DstPort 40
}
Line {
SrcBlock "IO Subsystem "
SrcPort 42
DstBlock "Mux10"
DstPort 39
}
Line {
SrcBlock "IO Subsystem "
SrcPort 41
DstBlock "Mux10"
DstPort 38
}
Line {
SrcBlock "IO Subsystem "
SrcPort 40
DstBlock "Mux10"
DstPort 37
}
Line {
SrcBlock "IO Subsystem "
SrcPort 39
DstBlock "Mux10"
DstPort 36
}
Line {
SrcBlock "IO Subsystem "
SrcPort 38
DstBlock "Mux10"
DstPort 35
}
Line {
SrcBlock "IO Subsystem "
SrcPort 37
DstBlock "Mux10"
DstPort 34
}
Line {
SrcBlock "IO Subsystem "
SrcPort 36
DstBlock "Mux10"
DstPort 33
}
Line {
SrcBlock "IO Subsystem "
SrcPort 35
DstBlock "Mux10"
DstPort 32
}
Line {
SrcBlock "IO Subsystem "
SrcPort 34
DstBlock "Mux10"
DstPort 31
}
Line {
SrcBlock "IO Subsystem "
SrcPort 32
DstBlock "Mux10"
DstPort 29
}
Line {
SrcBlock "IO Subsystem "
SrcPort 33
DstBlock "Mux10"
DstPort 30
}
Line {
SrcBlock "IO Subsystem "
SrcPort 31
DstBlock "Mux10"
DstPort 28
}
Line {
SrcBlock "IO Subsystem "
SrcPort 30
DstBlock "Mux10"
DstPort 27
}
Line {
SrcBlock "IO Subsystem "
SrcPort 29
DstBlock "Mux10"
DstPort 26
}
Line {
SrcBlock "IO Subsystem "
SrcPort 28
DstBlock "Mux10"
DstPort 25
}
Line {
SrcBlock "IO Subsystem "
SrcPort 27
DstBlock "Mux10"
DstPort 24
}
Line {
SrcBlock "IO Subsystem "
SrcPort 26
DstBlock "Mux10"
DstPort 23
}
Line {
SrcBlock "IO Subsystem "
SrcPort 25
DstBlock "Mux10"
DstPort 22
}
Line {
SrcBlock "Mux10"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Time firing 48 IO"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "IOcurrent"
SID 1238
Position [675, 138, 705, 152]
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "IOcurrent1"
SID 1243
Position [675, 218, 705, 232]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "IOcurrent2"
SID 1248
Position [675, 298, 705, 312]
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "IOTiming"
SID 1234
Position [675, 58, 705, 72]
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "ErrorCurrent"
SID 4420
Position [745, 323, 775, 337]
Port "5"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "ErrorCurrent1"
SID 4424
Position [745, 358, 775, 372]
Port "6"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "ErrorCurrent2"
SID 4425
Position [745, 388, 775, 402]
Port "7"
IconDisplay "Port number"
}
Line {
SrcBlock "Desired Position"
SrcPort 1
Points [5, 0; 0, -45]
DstBlock "ErrorModel"
DstPort 3
}
Line {
SrcBlock "Desired Velocities"
SrcPort 1
Points [10, 0; 0, -80]
DstBlock "ErrorModel"
DstPort 4
}
Line {
SrcBlock "Subsystem IO1"
SrcPort 1
DstBlock "IOTiming"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [70, 0; 0, -80]
DstBlock "Subsystem IO1"
DstPort 2
}
Line {
SrcBlock "Subsystem IO1"
SrcPort 2
DstBlock "IOcurrent"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Subsystem IO1"
DstPort 4
}
Line {
SrcBlock "Subsystem IO1"
SrcPort 3
DstBlock "IOcurrent1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [0, 80]
DstBlock "Subsystem IO1"
DstPort 6
}
Line {
SrcBlock "Subsystem IO1"
SrcPort 4
DstBlock "IOcurrent2"
DstPort 1
}
Line {
SrcBlock "ErrorModel"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Demux"
DstPort 1
}
Branch {
Points [0, 155]
DstBlock "Demux2"
DstPort 1
}
}
Line {
SrcBlock "qreal"
SrcPort 1
Points [70, 0; 0, 35]
DstBlock "ErrorModel"
DstPort 1
}
Line {
SrcBlock "qdreal"
SrcPort 1
DstBlock "ErrorModel"
DstPort 2
}
Line {
SrcBlock "Demux2"
SrcPort 1
Points [45, 0]
DstBlock "ErrorCurrent"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 2
DstBlock "ErrorCurrent1"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 3
Points [20, 0; 0, 10]
DstBlock "ErrorCurrent2"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson1"
SrcPort 1
Points [15, 0]
DstBlock "Subsystem IO1"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson2"
SrcPort 1
Points [15, 0]
DstBlock "Subsystem IO1"
DstPort 3
}
Line {
SrcBlock " Max Torque Value Poisson3"
SrcPort 1
DstBlock "Subsystem IO1"
DstPort 5
}
}
}
Block {
BlockType SubSystem
Name "Subsystem2"
SID 4658
Ports [0, 1]
Position [420, 335, 450, 365]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem2"
Location [498, 365, 801, 736]
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 Mux
Name "Mux"
SID 4659
Ports [3, 1]
Position [160, 89, 165, 201]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Subsystem"
SID 4660
Ports [0, 1]
Position [25, 100, 65, 160]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [34, 82, 888, 443]
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 Constant
Name "Constant1"
SID 4661
Position [285, 30, 315, 60]
Value "100"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 4662
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 4663
Position [45, 125, 75, 155]
Value "20*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 4664
Position [15, 218, 80, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 4665
Ports [2, 1]
Position [395, 42, 425, 73]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 4666
Ports [2, 1]
Position [200, 172, 230, 203]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 4667
Ports [2, 1]
Position [275, 115, 295, 135]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 4668
Ports [1, 1]
Position [320, 175, 350, 205]
Operator "cos"
}
Block {
BlockType Outport
Name "q2"
SID 4669
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "q2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [50, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
Labels [1, 0]
SrcBlock "Constant1"
SrcPort 1
Points [60, 0]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
SID 4670
Ports [0, 1]
Position [25, 180, 65, 240]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem1"
Location [531, 114, 1159, 475]
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 Constant
Name "Constant2"
SID 4671
Position [300, 15, 330, 45]
Value "100"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 4672
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 4673
Position [80, 115, 110, 145]
Value "20*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 4674
Position [60, 198, 125, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 4675
Ports [2, 1]
Position [410, 22, 440, 53]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 4676
Ports [2, 1]
Position [215, 152, 245, 183]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum"
SID 4677
Ports [2, 1]
Position [290, 95, 310, 115]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 4678
Ports [1, 1]
Position [335, 155, 365, 185]
Operator "cos"
}
Block {
BlockType Outport
Name "q3"
SID 4679
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "q3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [35, 0; 0, 30]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant2"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem3"
SID 4680
Ports [0, 1]
Position [25, 25, 65, 85]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem3"
Location [360, 169, 1021, 727]
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 Constant
Name "Constant1"
SID 4681
Position [245, 125, 275, 155]
Value "100"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 4682
Position [75, 220, 105, 250]
Value "20*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 4683
Position [15, 303, 80, 327]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 4684
Ports [2, 1]
Position [370, 132, 400, 163]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
SID 4685
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 4686
Ports [1, 1]
Position [295, 265, 325, 295]
Operator "cos"
}
Block {
BlockType Outport
Name "q1"
SID 4687
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "q1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 35]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -30]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "Fx,y,z"
SID 4688
Position [240, 138, 270, 152]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fx,y,z"
DstPort 1
}
Line {
SrcBlock "Subsystem3"
SrcPort 1
Points [35, 0; 0, 55]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [75, 0]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
Points [35, 0; 0, -30]
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType Sum
Name "Sum"
SID 2293
Ports [2, 1]
Position [380, 380, 400, 400]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
SID 4468
Ports [2, 1]
Position [1755, 805, 1775, 825]
ShowName off
IconShape "round"
Inputs "+-|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum4"
SID 4469
Ports [2, 1]
Position [1755, 860, 1775, 880]
ShowName off
IconShape "round"
Inputs "+-|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum5"
SID 4470
Ports [2, 1]
Position [1755, 910, 1775, 930]
ShowName off
IconShape "round"
Inputs "+-|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Terminator
Name "Terminator1"
SID 4472
Position [1035, 695, 1055, 715]
}
Block {
BlockType Terminator
Name "Terminator2"
SID 4474
Position [1035, 805, 1055, 825]
}
Block {
BlockType Terminator
Name "Terminator4"
SID 2299
Position [620, 370, 640, 390]
}
Block {
BlockType ToFile
Name "ToFileIO"
SID 4501
Position [1290, 575, 1350, 605]
Filename "IOActivityAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFileIODCN"
SID 4526
Position [1635, 1070, 1695, 1100]
Filename "IODCNWeightAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFileKP"
SID 4546
Position [1635, 1125, 1695, 1155]
Filename "KPWeightAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFileMFDCN"
SID 4483
Position [1635, 975, 1695, 1005]
Filename "MFDCNWeightAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFilePC"
SID 4482
Position [1635, 935, 1695, 965]
NamePlacement "alternate"
Filename "PCActivityAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFilePCDCN"
SID 4484
Position [1635, 1020, 1695, 1050]
Filename "PCDCNWeightAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFileTorque"
SID 4486
Position [680, 240, 740, 270]
Filename "CorrectiveTorqueAllLearningExternalForces.mat"
}
Block {
BlockType ToFile
Name "ToFileTorqueInd"
SID 4485
Position [1610, 374, 1685, 406]
Filename "CorrectiveTorque1AllLearningExternalForces.mat"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
SID 4406
Position [1160, 975, 1185, 1005]
SampleTime "0.002"
}
Block {
BlockType SignalViewerScope
Name "Scope1"
SID 4350
Ports []
Position [20, 15, 60, 55]
IOType "viewer"
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
ShowDataMarkers off
ShowLegends off
DataFormat "Array"
MaxDataPoints "7500"
RefreshTime 0.035000
}
Line {
SrcBlock "3 sin"
SrcPort 1
Points [60, 0]
Branch {
Labels [0, 0]
Points [0, 225]
DstBlock "Subsystem"
DstPort 1
}
Branch {
Points [40, 0]
DstBlock "RNE "
DstPort 1
}
}
Line {
SrcBlock "3 sin"
SrcPort 2
Points [40, 0]
Branch {
Labels [0, 0]
Points [0, 245]
DstBlock "Subsystem"
DstPort 2
}
Branch {
DstBlock "RNE "
DstPort 2
}
}
Line {
SrcBlock "3 sin"
SrcPort 3
Points [100, 0]
DstBlock "RNE "
DstPort 3
}
Line {
SrcBlock "RNE "
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -135]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Robot"
SrcPort 1
Points [115, 0]
DstBlock "Subsystem"
DstPort 3
}
Line {
SrcBlock "Robot"
SrcPort 2
Points [80, 0; 0, 365]
DstBlock "Subsystem"
DstPort 4
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Robot"
DstPort 2
}
Line {
SrcBlock "Robot"
SrcPort 3
DstBlock "Terminator4"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [30, 0]
Branch {
Points [0, -35]
DstBlock "Mux"
DstPort 1
}
Branch {
Points [35, 0]
DstBlock "Sum"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "ToFileTorque"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [-95, 0]
DstBlock "ToFileTorqueInd"
DstPort 1
}
Line {
SrcBlock "Counter\nLimited"
SrcPort 1
Points [40, 0; 0, -30]
DstBlock "S-Function1"
DstPort 3
}
Line {
Labels [0, 0]
SrcBlock "Constant2"
SrcPort 1
Points [30, 0; 0, 25]
DstBlock "S-Function1"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 1
Points [90, 0; 0, -150]
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 2
Points [210, 0]
DstBlock "ToFilePC"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 3
Points [30, 0; 0, 10]
DstBlock "ToFileMFDCN"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 4
Points [25, 0; 0, 40]
DstBlock "ToFilePCDCN"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "S-Function1"
DstPort 2
}
Line {
SrcBlock "Mux6"
SrcPort 1
Points [125, 0; 0, -165]
DstBlock "Mux1"
DstPort 1
}
Line {
Labels [2, 0]
SrcBlock "Mux7"
SrcPort 1
Points [90, 0; 0, -205]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Mux8"
SrcPort 1
Points [55, 0; 0, -240]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 25; 140, 0; 0, 40]
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, -175]
DstBlock "Mux6"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [40, 0]
Branch {
Points [60, 0; 0, 60]
DstBlock "Sum4"
DstPort 1
}
Branch {
Points [0, -165]
DstBlock "Mux7"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [75, 0]
Branch {
Points [0, 50]
DstBlock "Sum5"
DstPort 1
}
Branch {
Points [0, -160]
DstBlock "Mux8"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 6
Points [55, 0]
Branch {
Points [0, 45]
DstBlock "Sum5"
DstPort 2
}
Branch {
Points [30, 0; 0, -170]
DstBlock "Mux8"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [60, 0]
Branch {
Points [0, 55]
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, -175]
DstBlock "Mux7"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [30, 0]
Branch {
Points [115, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
Points [0, -185]
DstBlock "Mux6"
DstPort 2
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [95, 0; 0, -640]
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [100, 0; 0, -730]
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
Points [105, 0; 0, -805]
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Mux5"
SrcPort 1
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "Mux4"
SrcPort 1
DstBlock "Terminator2"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 4
Points [35, 0]
DstBlock "Mux5"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 5
Points [35, 0]
DstBlock "Mux4"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 6
DstBlock "Mux4"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 7
Points [0, -5]
DstBlock "Mux4"
DstPort 3
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Mux9"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -40]
DstBlock "ToFileIO"
DstPort 1
}
Branch {
Points [35, 0; 0, 110; -125, 0; 0, 250]
DstBlock "Zero-Order\nHold"
DstPort 1
}
}
Line {
SrcBlock "Demux1"
SrcPort 2
Points [40, 0; 0, -20]
DstBlock "Mux9"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
Points [0, 10; 80, 0; 0, 10]
DstBlock "Mux9"
DstPort 2
}
Line {
SrcBlock "Demux1"
SrcPort 3
Points [40, 0; 0, 20]
DstBlock "Mux9"
DstPort 4
}
Line {
SrcBlock "Demux1"
SrcPort 4
Points [0, -10; 80, 0; 0, -10]
DstBlock "Mux9"
DstPort 3
}
Line {
SrcBlock "Demux1"
SrcPort 5
Points [40, 0; 0, 20]
DstBlock "Mux9"
DstPort 6
}
Line {
SrcBlock "Demux1"
SrcPort 6
Points [0, -10; 80, 0; 0, -10]
DstBlock "Mux9"
DstPort 5
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [80, 0]
DstBlock "Mux3"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 2
DstBlock "Mux3"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 3
Points [0, -10]
DstBlock "Mux3"
DstPort 3
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
DstBlock "Display"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [-215, 0; 0, 190]
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-265, 0; 0, 140]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [-325, 0; 0, 80]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 5
Points [20, 0; 0, 75]
DstBlock "ToFileIODCN"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 6
Points [15, 0; 0, 115]
DstBlock "ToFileKP"
DstPort 1
}
Line {
SrcBlock "Subsystem2"
SrcPort 1
DstBlock "Robot"
DstPort 1
}
Line {
SrcBlock "Robot"
SrcPort 4
Points [0, -135]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Subsystem"
DstPort 5
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Subsystem"
DstPort 6
}
Line {
SrcBlock "Constant4"
SrcPort 1
DstBlock "Subsystem"
DstPort 7
}
}
}
# Finite State Machines
#
# Stateflow Version 7.1 (R2009a) dated Jul 17 2009, 10:24:20
#
#
Stateflow {
machine {
id 1
name "CerebellumIODCNAbstractFext"
created "15-Apr-2011 13:22:27"
isLibrary 0
firstTarget 2
sfVersion 71014000.00001
}
target {
id 2
name "sfun"
description "Default Simulink S-Function Target."
machine 1
linkNode [1 0 0]
}
}