# $Revision: 1.6.4.3 $ # $Date: 2004/01/22 18:38:14 $ # $Author: batserve $ # Copyright 1998-2004 HUMUSOFT s.r.o. and The MathWorks, Inc. Model { Name "vrtkoff" Version 6.0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.77" NumTestPointedSignals 0 } SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines on ShowLineDimensions on ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "d" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip on BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Thu Sep 30 15:57:03 1999" Creator "Straka" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Houska" ModifiedDateFormat "%" LastModifiedDate "Thu Jan 08 10:11:57 2004" ModelVersionFormat "1.%" ConfigurationManager "none" SimParamPage "Solver" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "oneshot" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ProdHWDeviceType "32-bit Generic" Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.0.2" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.0.2" StartTime "0.0" StopTime "15" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" RelTol "1e-3" SolverMode "Auto" Solver "ode45" ZeroCrossControl "UseLocalSettings" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.0.2" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput off SaveState off SaveTime off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsOut" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 4 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" PropName "DisabledProps" } Version "1.0.2" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on ConditionalExecOptimization "on_for_testing" InlineParams off InlineInvariantSignals on OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off OptimizeModelRefInitCode off } Simulink.DebuggingCC { $ObjectID 5 Version "1.0.2" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg on CheckExecutionContextRuntimeOutputMsg on BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.0.2" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetHWDeviceType "Specified" TargetUnknown on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.0.2" UpdateModelReferenceTargets "IfOutOfDate" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.0.2" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 8 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" PropName "DisabledProps" } Version "1.0.2" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "LifeSpan" Cell "NoFixptDivByZeroProtection" Cell "CustomSymbolStr" PropName "DisabledProps" } Version "1.0.2" TargetFcnLib "ansi_tfl_tmw.mat" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off LifeSpan "inf" SupportContinuousTime on SupportNonInlinedSFcns on ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } Simulink.SFSimCC { $ObjectID 11 Version "1.0.2" SFSimApplyToAllLibs on SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SFSimBuildMode "Incremental" } PropName "Components" } Name "Configuration" SimulationMode "normal" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Assignment InputType "Vector" IndexMode "One-based" IndexIsStartValue off ElementSrc "Internal" Elements "1" RowSrc "Internal" Rows "1" ColumnSrc "Internal" Columns "1" OutputDimensions "[1 1]" DiagnosticForDimensions "None" SampleTime "-1" } Block { BlockType Clock DisplayTime off } Block { BlockType Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport Port "1" BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" ZeroCross on } Block { BlockType Lookup InputValues "[-4:5]" OutputValues " rand(1,10)-0.5" LookUpMeth "Interpolation-Extrapolation" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" LUTDesignTableMode "Redesign Table" LUTDesignDataSource "Block Dialog" LUTDesignFunctionName "sqrt(x)" LUTDesignUseExistingBP on LUTDesignRelError "0.01" LUTDesignAbsError "1e-6" } Block { BlockType MinMax Function "min" Inputs "1" InputSameDT on OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Reference } Block { BlockType "S-Function" FunctionName "system" PortCounts "[]" SFunctionModules "''" } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" SystemSampleTime "-1" RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Terminator } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" SampleTime "-1" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "vrtkoff" Location [8, 83, 779, 404] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Reference Name " Equations of Motion\n(Body Axes)" Ports [3, 6] Position [275, 39, 335, 281] FontName "Arial" SourceBlock "aerospace/3DoF\nEquations\nof\nMotion / Equatio" "ns of Motion\n(Body Axes)" SourceType "3 DOF equations of motion" ShowPortLabels on v_ini "0" theta_ini "0" alpha_ini "0" q_ini "0" pos_ini "[0 0]" mass "1000" Iyy "1000" g "-9.81" Port { PortType 0 PortNumber 1 ShowSigGenPortName on } Port { PortType 0 PortNumber 2 ShowSigGenPortName on } Port { PortType 0 PortNumber 3 ShowSigGenPortName on } } Block { BlockType Clock Name "Clock" Position [150, 230, 170, 250] Decimation "10" } Block { BlockType Constant Name "Fx" Position [40, 65, 70, 95] Value "3000" } Block { BlockType MinMax Name "Ground / Lift" Ports [2, 1] Position [225, 142, 255, 173] Function "max" Inputs "2" ZeroCross off Port { PortType 0 PortNumber 1 ShowSigGenPortName on } Port { PortType 0 PortNumber 2 ShowSigGenPortName on } } Block { BlockType Mux Name "Mux3" Ports [2, 1] Position [550, 42, 555, 118] ShowName off Inputs "2" DisplayOption "bar" Port { PortType 0 PortNumber 1 ShowSigGenPortName on } Port { PortType 0 PortNumber 2 ShowSigGenPortName on } } Block { BlockType Lookup Name "Pilot Input" Position [195, 214, 245, 266] DialogController "Simulink.DDGSource" InputValues "[0 1 2 8 9 15]" OutputValues "[0 0 -20 20 0 0]" Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Constant Name "Pitch Axis of Rotation" Position [455, 46, 500, 74] Value "[ 1 0 0 ]" } Block { BlockType Constant Name "Plane Weight Ground \nCompensation" Position [115, 150, 145, 180] Value "9810" } Block { BlockType Integrator Name "Takeoff Lift" Ports [1, 1] Position [115, 99, 145, 131] LimitOutput on UpperSaturationLimit "11000" LowerSaturationLimit "-Inf" ZeroCross off Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Terminator Name "Terminator1" Position [355, 90, 375, 110] ShowName off Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Terminator Name "Terminator2" Position [355, 130, 375, 150] ShowName off Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Terminator Name "Terminator3" Position [355, 210, 375, 230] ShowName off Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Terminator Name "Terminator6" Position [355, 250, 375, 270] ShowName off Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Reference Name "VR Signal Expander" Ports [1, 1] Position [460, 150, 555, 210] SourceBlock "vrlib/VR Signal Expander" SourceType "VR Signal Expander" ShowPortLabels on outwidth "3" outidx "[3 2]" Port { PortType 0 PortNumber 1 ShowSigGenPortName on } } Block { BlockType Reference Name "VR Sink" Ports [2] Position [630, 99, 740, 161] SourceBlock "vrlib/VR Sink" SourceType "Virtual Reality Sink" SampleTime "0.05" ViewEnable on RemoteChange off RemoteView off FieldsWritten "Plane.rotation.4.1.double#Plane.translation.3.1" ".double" WorldFileName "vrtkoff.wrl" AutoView on Port { PortType 0 PortNumber 1 ShowSigGenPortName on } Port { PortType 0 PortNumber 2 ShowSigGenPortName on } } Line { SrcBlock "Pitch Axis of Rotation" SrcPort 1 DstBlock "Mux3" DstPort 1 } Line { SrcBlock "Mux3" SrcPort 1 Points [40, 0; 0, 35] DstBlock "VR Sink" DstPort 1 } Line { SrcBlock "VR Signal Expander" SrcPort 1 Points [40, 0; 0, -35] DstBlock "VR Sink" DstPort 2 } Line { SrcBlock " Equations of Motion\n(Body Axes)" SrcPort 2 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock " Equations of Motion\n(Body Axes)" SrcPort 3 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "Ground / Lift" SrcPort 1 DstBlock " Equations of Motion\n(Body Axes)" DstPort 2 } Line { SrcBlock "Takeoff Lift" SrcPort 1 Points [30, 0; 0, 35] DstBlock "Ground / Lift" DstPort 1 } Line { SrcBlock "Plane Weight Ground \nCompensation" SrcPort 1 DstBlock "Ground / Lift" DstPort 2 } Line { SrcBlock "Clock" SrcPort 1 DstBlock "Pilot Input" DstPort 1 } Line { SrcBlock "Pilot Input" SrcPort 1 DstBlock " Equations of Motion\n(Body Axes)" DstPort 3 } Line { SrcBlock "Fx" SrcPort 1 Points [5, 0] Branch { DstBlock " Equations of Motion\n(Body Axes)" DstPort 1 } Branch { Points [0, 35] DstBlock "Takeoff Lift" DstPort 1 } } Line { SrcBlock " Equations of Motion\n(Body Axes)" SrcPort 6 DstBlock "Terminator6" DstPort 1 } Line { SrcBlock " Equations of Motion\n(Body Axes)" SrcPort 5 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock " Equations of Motion\n(Body Axes)" SrcPort 1 Points [70, 0; 0, 40] DstBlock "Mux3" DstPort 2 } Line { SrcBlock " Equations of Motion\n(Body Axes)" SrcPort 4 DstBlock "VR Signal Expander" DstPort 1 } } }