Model { Name "halfcarWithX" Version 8.1 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.17" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1250" slprops.hdlmdlprops { $PropName "HDLParams" $ObjectID 1 Array { Type "Cell" Dimension 2 Cell "HDLSubsystem" Cell "halfcarWithX" PropName "mdlProps" } } SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 InitFcn "constHalfCar\nconstants" Object { $PropName "BdWindowsInfo" $ObjectID 2 $ClassName "Simulink.BDWindowsInfo" Object { $PropName "WindowsInfo" $ObjectID 3 $ClassName "Simulink.WindowInfo" IsActive [1] Location [295.0, 110.0, 1242.0, 889.0] Object { $PropName "ModelBrowserInfo" $ObjectID 4 $ClassName "Simulink.ModelBrowserInfo" Visible [0] DockPosition "Left" Width [50] Height [50] Filter [9] } Object { $PropName "ExplorerBarInfo" $ObjectID 5 $ClassName "Simulink.ExplorerBarInfo" Visible [1] } Object { $PropName "EditorsInfo" $ObjectID 6 $ClassName "Simulink.EditorInfo" IsActive [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" Extents [1190.0, 689.0] ZoomFactor [1.3174603174603172] Offset [7.3734939759036138, 7.012048192771033] } } } Created "Fri Mar 28 13:41:38 2014" Creator "neusser" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "neusser" ModifiedDateFormat "%" LastModifiedDate "Fri Apr 04 05:54:50 2014" RTWModifiedTimeStamp 318491650 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" $ObjectID 7 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "halfcarWithX" overrideMode_ [0U] Array { Type "Cell" Dimension 1 Cell "halfcarWithX" PropName "logAsSpecifiedByModels_" } Array { Type "Cell" Dimension 1 Cell [] PropName "logAsSpecifiedByModelsSSIDs_" } } RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 8 Version "1.13.0" Array { Type "Handle" Dimension 9 Simulink.SolverCC { $ObjectID 9 Version "1.13.0" StartTime "0.0" StopTime "10.0" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "1e-4" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "ode45" SolverName "ode45" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 10 Version "1.13.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "Dataset" SaveOutput on SaveState off SignalLogging on DSMLogging on InspectSignalLogs off SaveTime on ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 11 Version "1.13.0" Array { Type "Cell" Dimension 8 Cell "BooleansAsBitfields" Cell "PassReuseOutputArgsAs" Cell "PassReuseOutputArgsThreshold" Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" Cell "UseSpecifiedMinMax" PropName "DisabledProps" } BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope off UseFloatMulNetSlope off UseSpecifiedMinMax off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off StrengthReduction off ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" ExpressionDepthLimit 128 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero off NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 12 Version "1.13.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "warning" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" FixptConstPrecisionLossMsg "none" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "EnableAllAsError" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "warning" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "ErrorLevel1" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" SFUndirectedBroadcastEventsDiag "warning" SFTransitionActionBeforeConditionDiag "warning" } Simulink.HardwareCC { $ObjectID 13 Version "1.13.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerLongLong 64 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdLongLongMode off ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerLongLong 64 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetLongLongMode off TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 14 Version "1.13.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 15 Version "1.13.0" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 16 Version "1.13.0" Array { Type "Cell" Dimension 15 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" Cell "PortableWordSizes" Cell "GenerateWebview" Cell "GenerateCodeMetricsReport" Cell "GenerateCodeReplacementReport" Cell "GenerateErtSFunction" Cell "CreateSILPILBlock" Cell "CodeExecutionProfiling" Cell "CodeProfilingSaveOptions" Cell "CodeProfilingInstrumentation" PropName "DisabledProps" } SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on PackageGeneratedCodeAndArtifacts off 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 RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off PortableWordSizes off GenerateErtSFunction off CreateSILPILBlock "None" CodeExecutionProfiling off CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" CodeProfilingInstrumentation off SILDebugging off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 17 Version "1.13.0" Array { Type "Cell" Dimension 22 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "InsertPolySpaceComments" Cell "SFDataObjDesc" Cell "MATLABFcnDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InternalIdentifier" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrFcnArg" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "ReqsInCode" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off OperatorAnnotations off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M_T" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InternalIdentifier "Shortened" InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 18 Version "1.13.0" Array { Type "Cell" Dimension 15 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "GenerateAllocFcn" Cell "PurelyIntegerCode" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns on CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization" ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface off GenerateAllocFcn off UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 19 Version "1.13.0" Description "HDL Coder custom configuration component" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell " " PropName "HDLConfigFile" } HDLCActiveTab "0" } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 1811, 62, 2889, 737 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 8 } Object { $PropName "DataTransfer" $ObjectID 20 $ClassName "Simulink.GlobalDataTransfer" DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)" DefaultExtrapolationMethodBetweenContTasks "None" AutoInsertRateTranBlk [0] } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } MaskDefaults { SelfModifiable "off" IconFrame "on" IconOpaque "on" RunInitForIconRedraw "off" IconRotate "none" PortRotate "default" IconUnits "autoscale" } MaskParameterDefaults { Evaluate "on" Tunable "on" NeverSave "off" Internal "off" ReadOnly "off" Enabled "on" Visible "on" ToolTip "on" } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals off Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on ContinuousStateAttributes "''" } Block { BlockType Lookup_n-D NumberOfTableDimensions "2" BreakpointsForDimension1 "[10,22,31]" BreakpointsForDimension2 "[10,22,31]" BreakpointsForDimension3 "[1:3]" BreakpointsForDimension4 "[1:3]" BreakpointsForDimension5 "[1:3]" BreakpointsForDimension6 "[1:3]" BreakpointsForDimension7 "[1:3]" BreakpointsForDimension8 "[1:3]" BreakpointsForDimension9 "[1:3]" BreakpointsForDimension10 "[1:3]" BreakpointsForDimension11 "[1:3]" BreakpointsForDimension12 "[1:3]" BreakpointsForDimension13 "[1:3]" BreakpointsForDimension14 "[1:3]" BreakpointsForDimension15 "[1:3]" BreakpointsForDimension16 "[1:3]" BreakpointsForDimension17 "[1:3]" BreakpointsForDimension18 "[1:3]" BreakpointsForDimension19 "[1:3]" BreakpointsForDimension20 "[1:3]" BreakpointsForDimension21 "[1:3]" BreakpointsForDimension22 "[1:3]" BreakpointsForDimension23 "[1:3]" BreakpointsForDimension24 "[1:3]" BreakpointsForDimension25 "[1:3]" BreakpointsForDimension26 "[1:3]" BreakpointsForDimension27 "[1:3]" BreakpointsForDimension28 "[1:3]" BreakpointsForDimension29 "[1:3]" BreakpointsForDimension30 "[1:3]" BreakpointsForDimension1Min "[]" BreakpointsForDimension2Min "[]" BreakpointsForDimension3Min "[]" BreakpointsForDimension4Min "[]" BreakpointsForDimension5Min "[]" BreakpointsForDimension6Min "[]" BreakpointsForDimension7Min "[]" BreakpointsForDimension8Min "[]" BreakpointsForDimension9Min "[]" BreakpointsForDimension10Min "[]" BreakpointsForDimension11Min "[]" BreakpointsForDimension12Min "[]" BreakpointsForDimension13Min "[]" BreakpointsForDimension14Min "[]" BreakpointsForDimension15Min "[]" BreakpointsForDimension16Min "[]" BreakpointsForDimension17Min "[]" BreakpointsForDimension18Min "[]" BreakpointsForDimension19Min "[]" BreakpointsForDimension20Min "[]" BreakpointsForDimension21Min "[]" BreakpointsForDimension22Min "[]" BreakpointsForDimension23Min "[]" BreakpointsForDimension24Min "[]" BreakpointsForDimension25Min "[]" BreakpointsForDimension26Min "[]" BreakpointsForDimension27Min "[]" BreakpointsForDimension28Min "[]" BreakpointsForDimension29Min "[]" BreakpointsForDimension30Min "[]" BreakpointsForDimension1Max "[]" BreakpointsForDimension2Max "[]" BreakpointsForDimension3Max "[]" BreakpointsForDimension4Max "[]" BreakpointsForDimension5Max "[]" BreakpointsForDimension6Max "[]" BreakpointsForDimension7Max "[]" BreakpointsForDimension8Max "[]" BreakpointsForDimension9Max "[]" BreakpointsForDimension10Max "[]" BreakpointsForDimension11Max "[]" BreakpointsForDimension12Max "[]" BreakpointsForDimension13Max "[]" BreakpointsForDimension14Max "[]" BreakpointsForDimension15Max "[]" BreakpointsForDimension16Max "[]" BreakpointsForDimension17Max "[]" BreakpointsForDimension18Max "[]" BreakpointsForDimension19Max "[]" BreakpointsForDimension20Max "[]" BreakpointsForDimension21Max "[]" BreakpointsForDimension22Max "[]" BreakpointsForDimension23Max "[]" BreakpointsForDimension24Max "[]" BreakpointsForDimension25Max "[]" BreakpointsForDimension26Max "[]" BreakpointsForDimension27Max "[]" BreakpointsForDimension28Max "[]" BreakpointsForDimension29Max "[]" BreakpointsForDimension30Max "[]" BreakpointsForDimension1DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension2DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension3DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension4DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension5DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension6DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension7DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension8DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension9DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension10DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension11DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension12DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension13DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension14DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension15DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension16DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension17DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension18DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension19DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension20DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension21DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension22DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension23DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension24DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension25DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension26DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension27DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension28DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension29DataTypeStr "Inherit: Same as corresponding input" BreakpointsForDimension30DataTypeStr "Inherit: Same as corresponding input" IndexSearchMethod "Binary search" BeginIndexSearchUsingPreviousIndexResult off UseOneInputPortForAllInputData off Table "[4 5 6;16 19 20;10 18 23]" TableMin "[]" TableMax "[]" TableDataTypeStr "Inherit: Same as output" IntermediateResultsDataTypeStr "Inherit: Same as output" InterpMethod "Linear" ExtrapMethod "Linear" DiagnosticForOutOfRangeInput "None" RemoveProtectionInput off UseLastTableValue off SampleTime "-1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off FractionDataTypeStr "Inherit: Inherit via internal rule" SupportTunableTableSize off MaximumIndicesForEachDimension "[]" LUTDesignTableMode "Redesign Table" LUTDesignDataSource "Block Dialog" LUTDesignFunctionName "sqrt(x)" LUTDesignUseExistingBP on LUTDesignRelError "0.01" LUTDesignAbsError "1e-6" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Scope ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" DataFormat "Array" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" FunctionInterfaceSpec "void_void" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType VariableTransportDelay VariableDelayType "Variable time delay" MaximumDelay "1" InitialOutput "0" MaximumPoints "1024" FixedBuffer off ZeroDelay off TransDelayFeedthrough off PadeOrder "0" AbsoluteTolerance "auto" ContinuousStateAttributes "''" } } System { Name "halfcarWithX" Location [295, 110, 1537, 999] 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 "132" ReportName "simulink-default.rpt" SIDHighWatermark "50" Block { BlockType Sum Name "Add" SID "9" Ports [3, 1] Position [470, 143, 490, 307] ZOrder 9 ForegroundColor "blue" Inputs "+--" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add1" SID "47" Ports [2, 1] Position [205, 132, 235, 163] ZOrder 34 ForegroundColor "blue" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "z02: vertical \nmotion of the first\n wheel" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "B*dz" SID "3" Position [265, 265, 310, 295] ZOrder 3 ForegroundColor "blue" Gain "B" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "Constant" SID "40" Position [505, 335, 550, 365] ZOrder 27 ForegroundColor "blue" Value "d1+d2" } Block { BlockType Gain Name "F*[z01; z02]" SID "8" Position [400, 155, 445, 185] ZOrder 8 ForegroundColor "blue" Gain "F" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "K*z" SID "4" Position [365, 210, 410, 240] ZOrder 4 ForegroundColor "blue" Gain "K" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "LongitudialMovement" SID "16" Ports [1, 3] Position [410, 372, 475, 428] ZOrder 23 MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off Port { PortNumber 2 Name "dx horizontal\ncar speed" PropagatedSignals "dx" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "x horizontal\n car motion" PropagatedSignals "x" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } System { Name "LongitudialMovement" Location [440, 125, 1482, 911] 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 "150" Block { BlockType Inport Name "theta3" SID "17" Position [290, 148, 320, 162] ZOrder 22 IconDisplay "Port number" } Block { BlockType Sum Name "Add" SID "18" Ports [2, 1] Position [185, 182, 215, 213] ZOrder 19 BlockMirror on Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide" SID "19" Ports [2, 1] Position [110, 192, 140, 223] ZOrder 20 BlockMirror on Inputs "*/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "ddx" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "Gain" SID "20" Position [290, 225, 350, 255] ZOrder 17 BlockMirror on NamePlacement "alternate" Gain "m*g" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "Integrator" SID "21" Ports [1, 1] Position [110, 75, 140, 105] ZOrder 1 InitialCondition "v_x0" Port { PortNumber 1 Name "dx" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Integrator Name "Integrator1" SID "22" Ports [1, 1] Position [245, 75, 275, 105] ZOrder 2 Port { PortNumber 1 Name "x" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType SubSystem Name "Me to F" SID "23" Ports [1, 1] Position [185, 130, 265, 150] ZOrder 15 MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Me to F" Location [382, 86, 1424, 872] 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 "175" Block { BlockType Inport Name "dx" SID "24" Position [125, 20, 155, 35] ZOrder 15 BlockRotation 270 BlockMirror on IconDisplay "Port number" } Block { BlockType Lookup_n-D Name "Me" SID "25" Ports [1, 1] Position [35, 153, 100, 217] ZOrder 11 NumberOfTableDimensions "1" BreakpointsForDimension1 "Engine_speed" Table "Engine_moment" RndMeth "Simplest" } Block { BlockType Gain Name "Me to F" SID "26" Position [120, 167, 230, 203] ZOrder 14 Gain "pt*pd/re*etatf" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "rad/s to rot/min" SID "27" Position [155, 100, 230, 130] ZOrder 13 Gain "30/pi" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "v to omega engine" SID "28" Position [50, 100, 125, 130] ZOrder 12 Gain "pt*pd/re" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "F" SID "29" Position [250, 178, 280, 192] ZOrder 16 IconDisplay "Port number" } Line { SrcBlock "Me to F" SrcPort 1 DstBlock "F" DstPort 1 } Line { SrcBlock "dx" SrcPort 1 Points [0, 30; -115, 0; 0, 45] DstBlock "v to omega engine" DstPort 1 } Line { SrcBlock "rad/s to rot/min" SrcPort 1 Points [9, 0; 0, 35; -224, 0] DstBlock "Me" DstPort 1 } Line { SrcBlock "Me" SrcPort 1 DstBlock "Me to F" DstPort 1 } Line { SrcBlock "v to omega engine" SrcPort 1 DstBlock "rad/s to rot/min" DstPort 1 } } } Block { BlockType Constant Name "m" SID "33" Position [50, 284, 265, 316] ZOrder 10 Value "((Ie+It)*pt^2*pd^2+Id*pd^2+Iw)/re^2 + m" Port { PortNumber 1 Name "m" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Outport Name "ddx" SID "34" Position [120, 33, 150, 47] ZOrder 23 IconDisplay "Port number" } Block { BlockType Outport Name "dx" SID "35" Position [225, 33, 255, 47] ZOrder 24 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "x" SID "37" Position [330, 33, 360, 47] ZOrder 25 Port "3" IconDisplay "Port number" } Line { Name "m" Labels [4, 1] SrcBlock "m" SrcPort 1 Points [9, 0; 0, -38; -131, 0; 0, -47] DstBlock "Divide" DstPort 2 } Line { SrcBlock "Me to F" SrcPort 1 Points [7, 0; 0, 50] DstBlock "Add" DstPort 1 } Line { Name "dx" SrcBlock "Integrator" SrcPort 1 Points [25, 0; 0, 0] Branch { DstBlock "Integrator1" DstPort 1 } Branch { Points [0, -50] DstBlock "dx" DstPort 1 } Branch { Labels [0, 1] DstBlock "Me to F" DstPort 1 } } Line { SrcBlock "theta3" SrcPort 1 Points [81, 0; 0, 85] DstBlock "Gain" DstPort 1 } Line { Name "ddx" SrcBlock "Divide" SrcPort 1 Points [-50, 0; 0, -120] Branch { Points [0, -50] DstBlock "ddx" DstPort 1 } Branch { Labels [1, 1] DstBlock "Integrator" DstPort 1 } } Line { SrcBlock "Gain" SrcPort 1 Points [-69, 0; 0, -35] DstBlock "Add" DstPort 2 } Line { SrcBlock "Add" SrcPort 1 DstBlock "Divide" DstPort 1 } Line { Name "x" SrcBlock "Integrator1" SrcPort 1 Points [27, 0; 0, -50] DstBlock "x" DstPort 1 } } } Block { BlockType Mux Name "Mux" SID "7" Ports [2, 1] Position [375, 151, 380, 189] ZOrder 7 ForegroundColor "blue" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Scope" SID "42" Ports [4] Position [850, 223, 900, 377] ZOrder 29 Floating off Location [524, 246, 1548, 960] Open off NumInputPorts "4" List { ListType AxesTitles axes1 "%" axes2 "%" axes3 "%" axes4 "%" } List { ListType ScopeGraphics FigureColor "[0.501960784313725 0.501960784313725 0.501960784313725]" AxesColor "[0 0 0]" AxesTickColor "[1 1 1]" LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" LineStyles "-|-|-|-|-|-" LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" MarkerStyles "none|none|none|none|none|none" } ShowLegends on TimeRange "4" YMin "-5~-5~-1.92788461538462~-5" YMax "5~5~2.07211538461538~5" DataFormat "StructureWithTime" LimitDataPoints off SampleTime "0" } Block { BlockType Scope Name "Scope1" SID "49" Ports [4] Position [840, 18, 890, 172] ZOrder 36 Floating off Location [524, 246, 1548, 960] Open off NumInputPorts "4" List { ListType AxesTitles axes1 "%" axes2 "%" axes3 "%" axes4 "%" } List { ListType ScopeGraphics FigureColor "[0.501960784313725 0.501960784313725 0.501960784313725]" AxesColor "[0 0 0]" AxesTickColor "[1 1 1]" LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" LineStyles "-|-|-|-|-|-" LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" MarkerStyles "none|none|none|none|none|none" } ShowLegends on TimeRange "10" YMin "-5~-5~-5~-1" YMax "10~10~10~1" SaveName "ScopeData1" DataFormat "StructureWithTime" LimitDataPoints off SampleTime "0" } Block { BlockType VariableTransportDelay Name "Variable\nTime Delay" SID "38" Ports [2, 1] Position [305, 142, 335, 173] ZOrder 25 ForegroundColor "blue" MaximumDelay "10" Port { PortNumber 1 Name "z03: vertical \nmotion of the second\n wheel" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Integrator Name "a to v" SID "1" Ports [1, 1] Position [195, 210, 225, 240] ZOrder 1 ForegroundColor "blue" Port { PortNumber 1 Name "dz" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "invM*Rhs" SID "10" Position [520, 210, 565, 240] ZOrder 10 ForegroundColor "blue" Gain "inv(M)" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "ddz" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Product Name "multipl" SID "46" Ports [2, 1] Position [140, 112, 170, 143] ZOrder 33 Inputs "**" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Reference Name "road\nbumps" SID "48" Ports [0, 1] Position [90, 210, 120, 240] ZOrder 35 LibraryVersion "1.274" SourceBlock "simulink/Sources/Chirp Signal" SourceType "chirp" f1 "0.1" T "10" f2 "20" VectorParams1D on } Block { BlockType Lookup_n-D Name "road profile\nfrom x to angle" SID "45" Ports [1, 1] Position [35, 88, 100, 152] ZOrder 32 NumberOfTableDimensions "1" BreakpointsForDimension1 "road_positions/10" Table "road_declination" RndMeth "Simplest" Port { PortNumber 1 Name "angle" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Fcn Name "theta3" SID "36" Position [335, 385, 395, 415] ZOrder 24 Expr "u(2)" } Block { BlockType Fcn Name "theta3 " SID "44" Position [635, 235, 695, 265] ZOrder 31 Expr "u(2)" Port { PortNumber 1 Name "theta3 car \npitch angle" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Product Name "time delay\nbetween front and\nrear axle" SID "41" Ports [2, 1] Position [580, 342, 610, 373] ZOrder 28 ForegroundColor "blue" Inputs "*/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "v to z" SID "2" Ports [1, 1] Position [290, 210, 320, 240] ZOrder 2 ForegroundColor "blue" Port { PortNumber 1 Name "z" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Fcn Name "z3" SID "43" Position [635, 185, 695, 215] ZOrder 30 Expr "u(1)" Port { PortNumber 1 Name "z3 vertical \ncar motion" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Line { Name "dz" SrcBlock "a to v" SrcPort 1 Points [13, 0] Branch { Points [0, 55] DstBlock "B*dz" DstPort 1 } Branch { Labels [1, 1] DstBlock "v to z" DstPort 1 } } Line { Name "z" Labels [1, 0] SrcBlock "v to z" SrcPort 1 Points [15, 0] Branch { Points [0, 104] Branch { Points [0, 5; -20, 0] DstBlock "theta3" DstPort 1 } Branch { Points [279, 0; 0, -79] Branch { DstBlock "theta3 " DstPort 1 } Branch { Points [0, -50] DstBlock "z3" DstPort 1 } } } Branch { DstBlock "K*z" DstPort 1 } } Line { Name "ddz" Labels [-1, 0] SrcBlock "invM*Rhs" SrcPort 1 Points [9, 0; 0, 98; -399, 0] DstBlock "a to v" DstPort 1 } Line { Name "z02: vertical \nmotion of the first\n wheel" SrcBlock "Add1" SrcPort 1 Points [5, 0] Branch { Points [0, 35; 37, 0] Branch { Points [0, 17; 70, 0; 0, -22] DstBlock "Mux" DstPort 2 } Branch { Points [0, -35] DstBlock "Variable\nTime Delay" DstPort 1 } } Branch { Labels [2, 1] Points [0, -115] DstBlock "Scope1" DstPort 1 } } Line { Name "z03: vertical \nmotion of the second\n wheel" SrcBlock "Variable\nTime Delay" SrcPort 1 Points [7, 0] Branch { Labels [2, 1] Points [0, -85] DstBlock "Scope1" DstPort 2 } Branch { DstBlock "Mux" DstPort 1 } } Line { SrcBlock "Mux" SrcPort 1 DstBlock "F*[z01; z02]" DstPort 1 } Line { SrcBlock "F*[z01; z02]" SrcPort 1 DstBlock "Add" DstPort 1 } Line { SrcBlock "K*z" SrcPort 1 DstBlock "Add" DstPort 2 } Line { SrcBlock "B*dz" SrcPort 1 DstBlock "Add" DstPort 3 } Line { SrcBlock "Add" SrcPort 1 DstBlock "invM*Rhs" DstPort 1 } Line { SrcBlock "theta3" SrcPort 1 DstBlock "LongitudialMovement" DstPort 1 } Line { Name "dx horizontal\ncar speed" SrcBlock "LongitudialMovement" SrcPort 2 Points [78, 0] Branch { Points [0, -35] DstBlock "time delay\nbetween front and\nrear axle" DstPort 2 } Branch { Labels [2, 1] Points [0, 63; 233, 0; 0, -103] DstBlock "Scope" DstPort 4 } } Line { SrcBlock "Constant" SrcPort 1 DstBlock "time delay\nbetween front and\nrear axle" DstPort 1 } Line { SrcBlock "time delay\nbetween front and\nrear axle" SrcPort 1 Points [32, 0; 0, 96; -393, 0; 0, -291] DstBlock "Variable\nTime Delay" DstPort 2 } Line { Name "x horizontal\n car motion" SrcBlock "LongitudialMovement" SrcPort 3 Points [156, 0] Branch { Labels [3, 1] Points [0, -11; 99, 0; 0, -89] DstBlock "Scope" DstPort 3 } Branch { Labels [2, 1] Points [0, 29; -616, 0; 0, -271; 5, 0] Branch { Points [87, 0; 0, -43] DstBlock "multipl" DstPort 2 } Branch { Points [0, -58] DstBlock "road profile\nfrom x to angle" DstPort 1 } } } Line { Name "theta3 car \npitch angle" Labels [1, 1] SrcBlock "theta3 " SrcPort 1 Points [101, 0] Branch { Points [0, -95] DstBlock "Scope1" DstPort 4 } Branch { Points [0, 30] DstBlock "Scope" DstPort 2 } } Line { Name "z3 vertical \ncar motion" SrcBlock "z3" SrcPort 1 Points [15, 0] Branch { Points [0, -85] DstBlock "Scope1" DstPort 3 } Branch { Labels [2, 1] Points [57, 0; 0, 40] DstBlock "Scope" DstPort 1 } } Line { Name "angle" Labels [1, 1] SrcBlock "road profile\nfrom x to angle" SrcPort 1 DstBlock "multipl" DstPort 1 } Line { SrcBlock "multipl" SrcPort 1 Points [12, 0; 0, 10] DstBlock "Add1" DstPort 1 } Line { SrcBlock "road\nbumps" SrcPort 1 Points [25, 0; 0, -23; 40, 0] DstBlock "Add1" DstPort 2 } Annotation { SID "50" Name "HorizontalMovement" Position [410, 121] ForegroundColor "blue" ZOrder -1 } } }