Model { Name "ThreeBody" Version 4.00 SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Wed May 29 10:15:49 2002" Creator "kevin" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "kevin" ModifiedDateFormat "%" LastModifiedDate "Mon Jun 10 09:01:02 2002" ModelVersionFormat "1.%" ConfigurationManager "rcs" SimParamPage "Diagnostics" StartTime "0.0" StopTime "10.0" SolverMode "Auto" Solver "ode45" RelTol "1e-9" 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 off MaxDataPoints "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "error" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" SingleTaskRateTransMsg "none" MultiTaskRateTransMsg "error" IntegerOverflowMsg "warning" CheckForMatrixSingularity "none" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" LinearizationMsg "none" VectorMatrixConversionMsg "none" SfunCompatibilityCheckMsg "none" BlockPriorityViolationMsg "warning" ArrayBoundsChecking "none" ConsistencyChecking "none" ZeroCross on Profile off SimulationMode "accelerator" 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" TryForcingSFcnDF off 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 ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off OptimizeBlockIOStorage on BufferReuse on ParameterPooling on BlockReductionOpt on RTWExpressionDepthLimit 5 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 "ThreeBody" Location [12, 56, 558, 671] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType SubSystem Name "Body 1" Ports [2, 2] Position [245, 81, 330, 174] ForegroundColor "red" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "Body 1" Location [412, 598, 920, 1093] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "ax1 in" Position [20, 33, 50, 47] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "ay1 in" Position [25, 323, 55, 337] Port "2" LatchInput off Interpolate on } Block { BlockType ToWorkspace Name "To Workspace1" Position [310, 110, 370, 140] VariableName "x1" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [170, 110, 230, 140] VariableName "vx1" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace3" Position [310, 370, 370, 400] VariableName "y1" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace4" Position [170, 370, 230, 400] VariableName "vy1" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType Integrator Name "vx1" Ports [1, 1] Position [105, 25, 135, 55] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initvx1" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "vy1" Ports [1, 1] Position [100, 315, 130, 345] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initvy1" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "x1" Ports [1, 1] Position [170, 25, 200, 55] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initx1" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "y1" Ports [1, 1] Position [170, 315, 200, 345] ExternalReset "none" InitialConditionSource "internal" InitialCondition "inity1" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Outport Name "x1 out" Position [285, 33, 315, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "y1 out" Position [285, 323, 315, 337] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "x1" SrcPort 1 Points [60, 0] Branch { DstBlock "x1 out" DstPort 1 } Branch { Points [0, 85] DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "y1" SrcPort 1 Points [0, 0; 55, 0] Branch { DstBlock "y1 out" DstPort 1 } Branch { Points [0, 55] DstBlock "To Workspace3" DstPort 1 } } Line { SrcBlock "vy1" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "y1" DstPort 1 } Branch { Points [0, 55] DstBlock "To Workspace4" DstPort 1 } } Line { SrcBlock "vx1" SrcPort 1 Points [5, 0] Branch { DstBlock "x1" DstPort 1 } Branch { Points [0, 85] DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "ax1 in" SrcPort 1 DstBlock "vx1" DstPort 1 } Line { SrcBlock "ay1 in" SrcPort 1 DstBlock "vy1" DstPort 1 } } } Block { BlockType SubSystem Name "Body 2" Ports [2, 2] Position [245, 193, 330, 282] ForegroundColor "green" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "Body 2" Location [375, 425, 893, 895] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "ax2 in" Position [20, 33, 50, 47] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "ay2 in" Position [30, 293, 60, 307] Port "2" LatchInput off Interpolate on } Block { BlockType ToWorkspace Name "To Workspace1" Position [300, 90, 360, 120] VariableName "x2" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [170, 90, 230, 120] VariableName "vx2" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace3" Position [305, 350, 365, 380] VariableName "y2" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace4" Position [165, 350, 225, 380] VariableName "vy2" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType Integrator Name "vx2" Ports [1, 1] Position [105, 25, 135, 55] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initvx2" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "vy2" Ports [1, 1] Position [105, 285, 135, 315] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initvy2" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "x2" Ports [1, 1] Position [185, 25, 215, 55] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initx2" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "y2" Ports [1, 1] Position [175, 285, 205, 315] ExternalReset "none" InitialConditionSource "internal" InitialCondition "inity2" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Outport Name "x2 out" Position [355, 33, 385, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "y2 out" Position [355, 293, 385, 307] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "ay2 in" SrcPort 1 DstBlock "vy2" DstPort 1 } Line { SrcBlock "ax2 in" SrcPort 1 DstBlock "vx2" DstPort 1 } Line { SrcBlock "vx2" SrcPort 1 Points [5, 0] Branch { DstBlock "x2" DstPort 1 } Branch { Points [0, 65] DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "vy2" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "y2" DstPort 1 } Branch { Points [0, 65] DstBlock "To Workspace4" DstPort 1 } } Line { SrcBlock "y2" SrcPort 1 Points [0, 0; 40, 0] Branch { DstBlock "y2 out" DstPort 1 } Branch { Points [0, 65] DstBlock "To Workspace3" DstPort 1 } } Line { SrcBlock "x2" SrcPort 1 Points [30, 0] Branch { DstBlock "x2 out" DstPort 1 } Branch { Points [0, 65] DstBlock "To Workspace1" DstPort 1 } } } } Block { BlockType SubSystem Name "Body 3" Ports [2, 2] Position [245, 303, 330, 392] ForegroundColor "cyan" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "Body 3" Location [370, 540, 913, 1138] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "ax3 in" Position [20, 33, 50, 47] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "ay3 in" Position [25, 263, 55, 277] Port "2" LatchInput off Interpolate on } Block { BlockType ToWorkspace Name "To Workspace1" Position [310, 100, 370, 130] VariableName "x3" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [170, 100, 230, 130] VariableName "vx3" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace3" Position [310, 330, 370, 360] VariableName "y3" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace4" Position [170, 330, 230, 360] VariableName "vy3" MaxDataPoints "inf" Decimation "1" SampleTime "-1" SaveFormat "Array" } Block { BlockType Integrator Name "vx3" Ports [1, 1] Position [105, 25, 135, 55] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initvx3" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "vy3" Ports [1, 1] Position [100, 255, 130, 285] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initvy3" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "x3" Ports [1, 1] Position [180, 25, 210, 55] ExternalReset "none" InitialConditionSource "internal" InitialCondition "initx3" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Integrator Name "y3" Ports [1, 1] Position [170, 255, 200, 285] ExternalReset "none" InitialConditionSource "internal" InitialCondition "inity3" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Outport Name "x3 out" Position [355, 33, 385, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "y3 out" Position [355, 263, 385, 277] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "x3" SrcPort 1 Points [65, 0] Branch { DstBlock "x3 out" DstPort 1 } Branch { Points [0, 75] DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "y3" SrcPort 1 Points [0, 0; 55, 0] Branch { DstBlock "y3 out" DstPort 1 } Branch { Points [0, 75] DstBlock "To Workspace3" DstPort 1 } } Line { SrcBlock "vy3" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "y3" DstPort 1 } Branch { Points [0, 75] DstBlock "To Workspace4" DstPort 1 } } Line { SrcBlock "vx3" SrcPort 1 Points [5, 0] Branch { DstBlock "x3" DstPort 1 } Branch { Points [0, 75] DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "ax3 in" SrcPort 1 DstBlock "vx3" DstPort 1 } Line { SrcBlock "ay3 in" SrcPort 1 DstBlock "vy3" DstPort 1 } } } Block { BlockType SubSystem Name "accelerations" Ports [6, 6] Position [95, 78, 180, 397] ForegroundColor "blue" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "accelerations" Location [122, 164, 869, 981] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "x1 in" Position [30, 33, 60, 47] ForegroundColor "red" Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "y1 in" Position [30, 63, 60, 77] ForegroundColor "red" Port "2" LatchInput off Interpolate on } Block { BlockType Inport Name "x2 in" Position [30, 233, 60, 247] ForegroundColor "green" Port "3" LatchInput off Interpolate on } Block { BlockType Inport Name "y2 in" Position [30, 263, 60, 277] ForegroundColor "green" Port "4" LatchInput off Interpolate on } Block { BlockType Inport Name "x3 in" Position [30, 373, 60, 387] ForegroundColor "cyan" Port "5" LatchInput off Interpolate on } Block { BlockType Inport Name "y3 in" Position [30, 403, 60, 417] ForegroundColor "cyan" Port "6" LatchInput off Interpolate on } Block { BlockType Constant Name "Constant" Position [385, 560, 415, 590] Value "stopR" VectorParams1D on } Block { BlockType Constant Name "Constant1" Position [390, 640, 420, 670] Value "stopR" VectorParams1D on } Block { BlockType Constant Name "Constant2" Position [390, 725, 420, 755] Value "stopR" VectorParams1D on } Block { BlockType Logic Name "Logical\nOperator" Ports [3, 1] Position [550, 604, 580, 636] Operator "OR" Inputs "3" } Block { BlockType RelationalOperator Name "Relational\nOperator" Position [445, 522, 475, 553] Operator ">" } Block { BlockType RelationalOperator Name "Relational\nOperator1" Position [450, 602, 480, 633] Operator ">" } Block { BlockType RelationalOperator Name "Relational\nOperator2" Position [450, 687, 480, 718] Operator ">" } Block { BlockType Stop Name "Stop Simulation" Position [625, 602, 660, 638] } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [450, 355, 470, 375] ForegroundColor "cyan" ShowName off IconShape "round" Inputs "++|" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [490, 205, 510, 225] ForegroundColor "green" ShowName off IconShape "round" Inputs "|++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [490, 30, 510, 50] ForegroundColor "red" ShowName off IconShape "round" Inputs "|++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [520, 60, 540, 80] ForegroundColor "red" ShowName off IconShape "round" Inputs "|++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [415, 385, 435, 405] ForegroundColor "cyan" ShowName off IconShape "round" Inputs "++|" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [520, 235, 540, 255] ForegroundColor "green" ShowName off IconShape "round" Inputs "|++" SaturateOnIntegerOverflow on } Block { BlockType SubSystem Name "accelerations" Ports [4, 5] Position [240, 28, 325, 142] ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "accelerations" Location [441, 529, 1188, 868] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xa in" Position [30, 158, 60, 172] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "ya in" Position [30, 253, 60, 267] Port "2" LatchInput off Interpolate on } Block { BlockType Inport Name "xb in" Position [30, 128, 60, 142] Port "3" LatchInput off Interpolate on } Block { BlockType Inport Name "yb in" Position [30, 223, 60, 237] Port "4" LatchInput off Interpolate on } Block { BlockType Reference Name "Cartesian to\nPolar" Ports [2, 2] Position [200, 127, 230, 158] SourceBlock "simulink_extras/Transformations/Cartesi" "an to\nPolar" SourceType "Cart2Polar" } Block { BlockType Fcn Name "Fcn" Position [260, 120, 320, 150] Expr "1/(u^2)" } Block { BlockType Gain Name "Gain" Position [490, 70, 520, 100] Gain "-1" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain1" Position [520, 240, 550, 270] Gain "-1" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Reference Name "Polar to\nCartesian" Ports [2, 2] Position [380, 127, 410, 158] SourceBlock "simulink_extras/Transformations/Polar t" "o\nCartesian" SourceType "Polar2Cart" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [110, 125, 130, 145] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [110, 220, 130, 240] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Outport Name "axa out" Position [555, 128, 585, 142] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "aya out" Position [555, 163, 585, 177] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "axb out" Position [555, 78, 585, 92] Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ayb out" Position [570, 248, 600, 262] Port "4" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "r Out" Position [250, 58, 280, 72] Port "5" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "Gain" SrcPort 1 DstBlock "axb out" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "ayb out" DstPort 1 } Line { SrcBlock "Polar to\nCartesian" SrcPort 2 Points [60, 0; 0, 20] Branch { Points [0, 85] DstBlock "Gain1" DstPort 1 } Branch { DstBlock "aya out" DstPort 1 } } Line { SrcBlock "Polar to\nCartesian" SrcPort 1 Points [0, 0; 60, 0] Branch { DstBlock "Gain" DstPort 1 } Branch { DstBlock "axa out" DstPort 1 } } Line { SrcBlock "Cartesian to\nPolar" SrcPort 2 Points [20, 0; 0, 20; 100, 0; 0, -20] DstBlock "Polar to\nCartesian" DstPort 2 } Line { SrcBlock "Fcn" SrcPort 1 DstBlock "Polar to\nCartesian" DstPort 1 } Line { SrcBlock "Cartesian to\nPolar" SrcPort 1 Points [0, 0] Branch { DstBlock "Fcn" DstPort 1 } Branch { DstBlock "r Out" DstPort 1 } } Line { SrcBlock "Sum1" SrcPort 1 Points [25, 0; 0, -80] DstBlock "Cartesian to\nPolar" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Cartesian to\nPolar" DstPort 1 } Line { SrcBlock "ya in" SrcPort 1 Points [55, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "yb in" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "xa in" SrcPort 1 Points [55, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "xb in" SrcPort 1 DstBlock "Sum" DstPort 1 } } } Block { BlockType SubSystem Name "accelerations1" Ports [4, 5] Position [240, 168, 325, 282] ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "accelerations1" Location [441, 529, 1188, 868] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xa in" Position [30, 158, 60, 172] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "ya in" Position [30, 253, 60, 267] Port "2" LatchInput off Interpolate on } Block { BlockType Inport Name "xb in" Position [30, 128, 60, 142] Port "3" LatchInput off Interpolate on } Block { BlockType Inport Name "yb in" Position [30, 223, 60, 237] Port "4" LatchInput off Interpolate on } Block { BlockType Reference Name "Cartesian to\nPolar" Ports [2, 2] Position [200, 127, 230, 158] SourceBlock "simulink_extras/Transformations/Cartesi" "an to\nPolar" SourceType "Cart2Polar" } Block { BlockType Fcn Name "Fcn" Position [260, 120, 320, 150] Expr "1/(u^2)" } Block { BlockType Gain Name "Gain" Position [490, 70, 520, 100] Gain "-1" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain1" Position [520, 240, 550, 270] Gain "-1" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Reference Name "Polar to\nCartesian" Ports [2, 2] Position [380, 127, 410, 158] SourceBlock "simulink_extras/Transformations/Polar t" "o\nCartesian" SourceType "Polar2Cart" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [110, 125, 130, 145] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [110, 220, 130, 240] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Outport Name "axa out" Position [555, 128, 585, 142] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "aya out" Position [555, 163, 585, 177] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "axb out" Position [555, 78, 585, 92] Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ayb out" Position [570, 248, 600, 262] Port "4" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "r Out" Position [285, 53, 315, 67] Port "5" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "xb in" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "xa in" SrcPort 1 Points [55, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "yb in" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "ya in" SrcPort 1 Points [55, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Cartesian to\nPolar" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [25, 0; 0, -80] DstBlock "Cartesian to\nPolar" DstPort 2 } Line { SrcBlock "Cartesian to\nPolar" SrcPort 1 Points [5, 0] Branch { DstBlock "Fcn" DstPort 1 } Branch { Points [0, -75] DstBlock "r Out" DstPort 1 } } Line { SrcBlock "Fcn" SrcPort 1 DstBlock "Polar to\nCartesian" DstPort 1 } Line { SrcBlock "Cartesian to\nPolar" SrcPort 2 Points [20, 0; 0, 20; 100, 0; 0, -20] DstBlock "Polar to\nCartesian" DstPort 2 } Line { SrcBlock "Polar to\nCartesian" SrcPort 1 Points [0, 0; 60, 0] Branch { DstBlock "axa out" DstPort 1 } Branch { DstBlock "Gain" DstPort 1 } } Line { SrcBlock "Polar to\nCartesian" SrcPort 2 Points [60, 0; 0, 20] Branch { DstBlock "aya out" DstPort 1 } Branch { Points [0, 85] DstBlock "Gain1" DstPort 1 } } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "ayb out" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "axb out" DstPort 1 } } } Block { BlockType SubSystem Name "accelerations2" Ports [4, 5] Position [240, 308, 325, 422] ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" System { Name "accelerations2" Location [441, 529, 1188, 868] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xa in" Position [30, 158, 60, 172] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "ya in" Position [30, 253, 60, 267] Port "2" LatchInput off Interpolate on } Block { BlockType Inport Name "xb in" Position [30, 128, 60, 142] Port "3" LatchInput off Interpolate on } Block { BlockType Inport Name "yb in" Position [30, 223, 60, 237] Port "4" LatchInput off Interpolate on } Block { BlockType Reference Name "Cartesian to\nPolar" Ports [2, 2] Position [200, 127, 230, 158] SourceBlock "simulink_extras/Transformations/Cartesi" "an to\nPolar" SourceType "Cart2Polar" } Block { BlockType Fcn Name "Fcn" Position [260, 120, 320, 150] Expr "1/(u^2)" } Block { BlockType Gain Name "Gain" Position [490, 70, 520, 100] Gain "-1" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain1" Position [520, 240, 550, 270] Gain "-1" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType Reference Name "Polar to\nCartesian" Ports [2, 2] Position [380, 127, 410, 158] SourceBlock "simulink_extras/Transformations/Polar t" "o\nCartesian" SourceType "Polar2Cart" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [110, 125, 130, 145] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [110, 220, 130, 240] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Outport Name "axa out" Position [555, 128, 585, 142] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "aya out" Position [555, 163, 585, 177] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "axb out" Position [555, 78, 585, 92] Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ayb out" Position [570, 248, 600, 262] Port "4" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "r Out" Position [255, 78, 285, 92] Port "5" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "Gain" SrcPort 1 DstBlock "axb out" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "ayb out" DstPort 1 } Line { SrcBlock "Polar to\nCartesian" SrcPort 2 Points [60, 0; 0, 20] Branch { Points [0, 85] DstBlock "Gain1" DstPort 1 } Branch { DstBlock "aya out" DstPort 1 } } Line { SrcBlock "Polar to\nCartesian" SrcPort 1 Points [0, 0; 60, 0] Branch { DstBlock "Gain" DstPort 1 } Branch { DstBlock "axa out" DstPort 1 } } Line { SrcBlock "Cartesian to\nPolar" SrcPort 2 Points [20, 0; 0, 20; 100, 0; 0, -20] DstBlock "Polar to\nCartesian" DstPort 2 } Line { SrcBlock "Fcn" SrcPort 1 DstBlock "Polar to\nCartesian" DstPort 1 } Line { SrcBlock "Cartesian to\nPolar" SrcPort 1 Points [0, 0] Branch { DstBlock "Fcn" DstPort 1 } Branch { Points [0, -50] DstBlock "r Out" DstPort 1 } } Line { SrcBlock "Sum1" SrcPort 1 Points [25, 0; 0, -80] DstBlock "Cartesian to\nPolar" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Cartesian to\nPolar" DstPort 1 } Line { SrcBlock "ya in" SrcPort 1 Points [55, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "yb in" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "xa in" SrcPort 1 Points [55, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "xb in" SrcPort 1 DstBlock "Sum" DstPort 1 } } } Block { BlockType Outport Name "ax1 out" Position [560, 33, 590, 47] ForegroundColor "red" Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ay1 out" Position [560, 63, 590, 77] ForegroundColor "red" Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ax2 out" Position [560, 208, 590, 222] ForegroundColor "green" Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ay2 out" Position [560, 238, 590, 252] ForegroundColor "green" Port "4" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ax3 out" Position [555, 358, 585, 372] ForegroundColor "cyan" Port "5" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "ay3 out" Position [565, 388, 595, 402] ForegroundColor "cyan" Port "6" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "x1 in" SrcPort 1 Points [45, 0] Branch { DstBlock "accelerations" DstPort 1 } Branch { Points [0, 140] DstBlock "accelerations1" DstPort 1 } } Line { SrcBlock "y1 in" SrcPort 1 Points [35, 0] Branch { DstBlock "accelerations" DstPort 2 } Branch { Points [0, 140] DstBlock "accelerations1" DstPort 2 } } Line { SrcBlock "x2 in" SrcPort 1 Points [0, 0; 40, 0] Branch { DstBlock "accelerations1" DstPort 3 } Branch { Points [0, 80] DstBlock "accelerations2" DstPort 1 } } Line { SrcBlock "y2 in" SrcPort 1 Points [0, 0; 30, 0] Branch { DstBlock "accelerations1" DstPort 4 } Branch { Points [0, 80] DstBlock "accelerations2" DstPort 2 } } Line { SrcBlock "x3 in" SrcPort 1 Points [0, 0; 60, 0] Branch { DstBlock "accelerations2" DstPort 3 } Branch { Points [0, -280] DstBlock "accelerations" DstPort 3 } } Line { SrcBlock "y3 in" SrcPort 1 Points [0, 0; 70, 0] Branch { DstBlock "accelerations2" DstPort 4 } Branch { Points [0, -280] DstBlock "accelerations" DstPort 4 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "ax3 out" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "ax2 out" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "ax1 out" DstPort 1 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "ay1 out" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "ay3 out" DstPort 1 } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "ay2 out" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 1 Points [0, -5] DstBlock "Sum2" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 2 Points [0, 5] DstBlock "Sum3" DstPort 1 } Line { SrcBlock "accelerations1" SrcPort 3 Points [0, -10] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "accelerations1" SrcPort 4 DstBlock "Sum5" DstPort 1 } Line { SrcBlock "accelerations2" SrcPort 3 DstBlock "Sum" DstPort 2 } Line { SrcBlock "accelerations2" SrcPort 4 Points [0, 10] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "accelerations1" SrcPort 1 Points [170, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "accelerations1" SrcPort 2 Points [200, 0] DstBlock "Sum3" DstPort 2 } Line { SrcBlock "accelerations2" SrcPort 1 Points [170, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "accelerations2" SrcPort 2 Points [200, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "accelerations" SrcPort 4 Points [95, 0] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 3 Points [130, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [5, 0; 0, -30] DstBlock "Relational\nOperator" DstPort 2 } Line { SrcBlock "Constant1" SrcPort 1 Points [5, 0; 0, -30] DstBlock "Relational\nOperator1" DstPort 2 } Line { SrcBlock "Constant2" SrcPort 1 Points [5, 0; 0, -30] DstBlock "Relational\nOperator2" DstPort 2 } Line { SrcBlock "Relational\nOperator" SrcPort 1 Points [55, 0] DstBlock "Logical\nOperator" DstPort 1 } Line { SrcBlock "Relational\nOperator1" SrcPort 1 DstBlock "Logical\nOperator" DstPort 2 } Line { SrcBlock "Relational\nOperator2" SrcPort 1 Points [50, 0] DstBlock "Logical\nOperator" DstPort 3 } Line { SrcBlock "Logical\nOperator" SrcPort 1 DstBlock "Stop Simulation" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 5 Points [65, 0; 0, 405] DstBlock "Relational\nOperator" DstPort 1 } Line { SrcBlock "accelerations1" SrcPort 5 Points [40, 0; 0, 345] DstBlock "Relational\nOperator1" DstPort 1 } Line { SrcBlock "accelerations2" SrcPort 5 Points [30, 0; 0, 290] DstBlock "Relational\nOperator2" DstPort 1 } } } Line { SrcBlock "accelerations" SrcPort 1 Points [45, 0] DstBlock "Body 1" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 2 Points [45, 0] DstBlock "Body 1" DstPort 2 } Line { SrcBlock "accelerations" SrcPort 3 Points [45, 0] DstBlock "Body 2" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 4 Points [45, 0] DstBlock "Body 2" DstPort 2 } Line { SrcBlock "accelerations" SrcPort 5 Points [45, 0] DstBlock "Body 3" DstPort 1 } Line { SrcBlock "accelerations" SrcPort 6 Points [45, 0] DstBlock "Body 3" DstPort 2 } Line { SrcBlock "Body 1" SrcPort 1 Points [0, -35; -255, 0] DstBlock "accelerations" DstPort 1 } Line { SrcBlock "Body 1" SrcPort 2 Points [10, 0; 0, -90; -275, 0; 0, 95] DstBlock "accelerations" DstPort 2 } Line { SrcBlock "Body 3" SrcPort 2 Points [0, 45; -255, 0] DstBlock "accelerations" DstPort 6 } Line { SrcBlock "Body 3" SrcPort 1 Points [10, 0; 0, 100; -275, 0; 0, -105] DstBlock "accelerations" DstPort 5 } Line { SrcBlock "Body 2" SrcPort 2 Points [20, 0; 0, 175; -295, 0; 0, -170] DstBlock "accelerations" DstPort 4 } Line { SrcBlock "Body 2" SrcPort 1 Points [30, 0; 0, 230; -315, 0; 0, -235] DstBlock "accelerations" DstPort 3 } } }