Model { Name "robo_controle2" Version 4.00 SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off RecordCoverage off CovPath "/" CovSaveName "covdata" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Jun 28 11:17:41 2005" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Natanael" ModifiedDateFormat "%" LastModifiedDate "Tue Jul 05 13:39:57 2005" ModelVersionFormat "1.%" ConfigurationManager "none" SimParamPage "Solver" StartTime "0.0" StopTime "1.0" SolverMode "Auto" Solver "ode45" RelTol "1e-3" AbsTol "auto" Refine "1" MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" LimitDataPoints on MaxDataPoints "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" SingleTaskRateTransMsg "none" MultiTaskRateTransMsg "error" IntegerOverflowMsg "warning" CheckForMatrixSingularity "none" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" SignalLabelMismatchMsg "none" LinearizationMsg "none" VectorMatrixConversionMsg "none" SfunCompatibilityCheckMsg "none" BlockPriorityViolationMsg "warning" ArrayBoundsChecking "none" ConsistencyChecking "none" ZeroCross on Profile off SimulationMode "normal" RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off TLCProfiler off TLCDebug off TLCCoverage off AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeLogAll on OptimizeBlockIOStorage on BufferReuse on ParameterPooling on BlockReductionOpt off BooleanDataType off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "robo_controle2" Location [2, 78, 1278, 910] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on ReportName "simulink-default.rpt" Block { BlockType Fcn Name "-H21" Position [560, 505, 620, 535] Orientation "left" NamePlacement "alternate" Expr "-(a2+a3*cos(u)+a4*sin(u))" } Block { BlockType Fcn Name "1/H11" Position [300, 135, 360, 165] Orientation "left" NamePlacement "alternate" Expr "1/(a1+2*a3*cos(u)+2*a4*sin(u))" } Block { BlockType Gain Name "1/H22" Position [280, 335, 310, 365] Gain "1/a2" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Fcn Name "Fcn" Position [125, 15, 185, 45] Orientation "left" NamePlacement "alternate" Expr "u-qd1" } Block { BlockType Fcn Name "Fcn1" Position [125, 600, 185, 630] Orientation "left" NamePlacement "alternate" Expr "u-qd2" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [405, 180, 435, 210] ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [405, 330, 435, 360] ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [860, 130, 890, 160] ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "Integrator3" Ports [1, 1] Position [860, 385, 890, 415] ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Gain Name "Kd" Position [335, 495, 365, 525] Orientation "left" NamePlacement "alternate" Gain "Kd" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Kd_" Position [340, 555, 370, 585] Orientation "left" NamePlacement "alternate" Gain "Kd" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Kp" Position [70, 205, 100, 235] Gain "Kp" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Kp_" Position [70, 355, 100, 385] Gain "Kp" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product" Ports [2, 1] Position [560, 186, 605, 219] Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product1" Ports [2, 1] Position [560, 256, 605, 289] Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product2" Ports [2, 1] Position [560, 321, 605, 354] Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product3" Ports [2, 1] Position [225, 285, 275, 320] Orientation "left" NamePlacement "alternate" Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product4" Ports [2, 1] Position [225, 240, 275, 275] Orientation "left" NamePlacement "alternate" Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product6" Ports [2, 1] Position [340, 176, 385, 209] Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product7" Ports [2, 1] Position [240, 445, 290, 480] Orientation "left" NamePlacement "alternate" Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product8" Ports [2, 1] Position [260, 65, 310, 100] Orientation "left" NamePlacement "alternate" Inputs "2" Multiplication "Element-wise(.*)" SaturateOnIntegerOverflow on } Block { BlockType Reference Name "Radians\nto Degrees" Ports [1, 1] Position [955, 130, 985, 160] SourceBlock "simulink_extras/Transformations/Radians\nto Deg" "rees" SourceType "RadiansToDegrees" } Block { BlockType Reference Name "Radians\nto Degrees1" Ports [1, 1] Position [955, 385, 985, 415] SourceBlock "simulink_extras/Transformations/Radians\nto Deg" "rees" SourceType "RadiansToDegrees" } Block { BlockType Sum Name "Sum1" Ports [3, 1] Position [220, 335, 240, 355] NamePlacement "alternate" ShowName off IconShape "round" Inputs "|+++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum2" Ports [3, 1] Position [220, 185, 240, 205] ShowName off IconShape "round" Inputs "|+++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum3" Ports [3, 1] Position [410, 80, 430, 100] Orientation "left" NamePlacement "alternate" ShowName off IconShape "round" Inputs "|+++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [120, 210, 140, 230] NamePlacement "alternate" ShowName off IconShape "round" Inputs "|--" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [155, 360, 175, 380] NamePlacement "alternate" ShowName off IconShape "round" Inputs "|--" SaturateOnIntegerOverflow on } Block { BlockType Fcn Name "h" Position [350, 40, 410, 70] Orientation "left" NamePlacement "alternate" Expr "a3*sin(u)-a4*cos(u)" } Block { BlockType Fcn Name "h_" Position [385, 470, 445, 500] Orientation "left" NamePlacement "alternate" Expr "a3*sin(u)-a4*cos(u)" } Block { BlockType Scope Name "q1" Ports [1] Position [1015, 129, 1045, 161] Floating off Location [8, 123, 500, 362] Open on NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Scope Name "q2" Ports [1] Position [1015, 384, 1045, 416] Floating off Location [508, 123, 1000, 362] Open on NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData1" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Scope Name "torque1" Ports [1] Position [120, 70, 150, 100] Orientation "left" Floating off Location [8, 421, 500, 660] Open on NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData2" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Scope Name "torque2" Ports [1] Position [270, 634, 300, 666] Floating off Location [508, 421, 1002, 660] Open on NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData3" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Line { SrcBlock "Integrator" SrcPort 1 Points [0, 0; 25, 0] Branch { Points [10, 0] Branch { Points [25, 0] Branch { Points [25, 0] Branch { DstBlock "Product" DstPort 1 } Branch { Points [0, 15] DstBlock "Product" DstPort 2 } } Branch { Points [0, 70] DstBlock "Product1" DstPort 1 } } Branch { Points [0, -50] DstBlock "Integrator2" DstPort 1 } } Branch { Points [0, 375] DstBlock "Kd_" DstPort 1 } } Line { SrcBlock "Integrator1" SrcPort 1 Points [0, 0; 35, 0] Branch { Points [25, 0] Branch { Points [25, 0] Branch { DstBlock "Product2" DstPort 2 } Branch { Points [0, -15] DstBlock "Product2" DstPort 1 } } Branch { Points [0, -65] DstBlock "Product1" DstPort 2 } } Branch { Points [0, 55] Branch { DstBlock "Integrator3" DstPort 1 } Branch { Points [0, 110] DstBlock "Kd" DstPort 1 } } } Line { SrcBlock "Product2" SrcPort 1 Points [140, 0; 0, -262] DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 Points [165, 0; 0, 250] DstBlock "Product7" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 Points [115, 0; 0, -160; -115, 0] Branch { Points [0, -13] DstBlock "Sum3" DstPort 2 } Branch { DstBlock "Sum3" DstPort 3 } } Line { SrcBlock "Integrator2" SrcPort 1 Points [30, 0] Branch { Points [0, -115] DstBlock "Fcn" DstPort 1 } Branch { DstBlock "Radians\nto Degrees" DstPort 1 } } Line { SrcBlock "Integrator3" SrcPort 1 Points [0, 0; 30, 0] Branch { Points [0, -70; -105, 0; 0, -180] Branch { DstBlock "1/H11" DstPort 1 } Branch { Points [0, -95] DstBlock "h" DstPort 1 } } Branch { Points [0, 120] Branch { Points [0, 95] DstBlock "Fcn1" DstPort 1 } Branch { Points [-255, 0] Branch { DstBlock "-H21" DstPort 1 } Branch { Points [0, -35] DstBlock "h_" DstPort 1 } } } Branch { DstBlock "Radians\nto Degrees1" DstPort 1 } } Line { SrcBlock "Sum4" SrcPort 1 Points [30, 0] Branch { Points [34, 0] DstBlock "Sum2" DstPort 2 } Branch { Points [0, -135] DstBlock "torque1" DstPort 1 } } Line { SrcBlock "Sum5" SrcPort 1 Points [29, 0] Branch { DstBlock "Sum1" DstPort 2 } Branch { Points [0, 280] DstBlock "torque2" DstPort 1 } } Line { SrcBlock "Kd" SrcPort 1 Points [-165, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "Kd_" SrcPort 1 Points [-205, 0] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Kp_" SrcPort 1 DstBlock "Sum5" DstPort 1 } Line { SrcBlock "Kp" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Fcn" SrcPort 1 Points [-90, 0; 0, 190] DstBlock "Kp" DstPort 1 } Line { SrcBlock "Fcn1" SrcPort 1 Points [-90, 0; 0, -245] DstBlock "Kp_" DstPort 1 } Line { SrcBlock "Product3" SrcPort 1 Points [-15, 0; 0, 28] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Product4" SrcPort 1 Points [0, -40] DstBlock "Sum2" DstPort 3 } Line { SrcBlock "-H21" SrcPort 1 Points [-40, 0; 0, -135; -160, 0; 0, -90] Branch { Points [0, -45] DstBlock "Product4" DstPort 1 } Branch { DstBlock "Product3" DstPort 1 } } Line { SrcBlock "1/H22" SrcPort 1 Points [60, 0] Branch { Points [15, 0] DstBlock "Integrator1" DstPort 1 } Branch { Points [0, -85] DstBlock "Product4" DstPort 2 } } Line { SrcBlock "Sum2" SrcPort 1 Points [80, 0] DstBlock "Product6" DstPort 2 } Line { SrcBlock "1/H11" SrcPort 1 Points [0, 35] DstBlock "Product6" DstPort 1 } Line { SrcBlock "Product6" SrcPort 1 Points [0, 0] Branch { DstBlock "Integrator" DstPort 1 } Branch { Points [0, 115] DstBlock "Product3" DstPort 2 } } Line { SrcBlock "Product7" SrcPort 1 Points [-5, 0] DstBlock "Sum1" DstPort 3 } Line { SrcBlock "h_" SrcPort 1 Points [-75, 0] DstBlock "Product7" DstPort 2 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Product8" DstPort 2 } Line { SrcBlock "Product8" SrcPort 1 Points [-46, 0] DstBlock "Sum2" DstPort 1 } Line { SrcBlock "h" SrcPort 1 Points [-20, 0] DstBlock "Product8" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [0, 5] DstBlock "1/H22" DstPort 1 } Line { SrcBlock "Radians\nto Degrees" SrcPort 1 DstBlock "q1" DstPort 1 } Line { SrcBlock "Radians\nto Degrees1" SrcPort 1 DstBlock "q2" DstPort 1 } Annotation { Position [449, 184] Text "x1" } Annotation { Position [455, 333] Text "x2" } Annotation { Position [627, 266] Text "x1x2" } Annotation { Position [622, 333] Text "x2x2" } Annotation { Position [621, 196] Text "x1x1" } Annotation { Position [901, 136] Text "q1" } Annotation { Position [905, 393] Text "q2" } } }