Model { Name "ESPWinch3_n" Version 7.2 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 1 Outport { BusObject "" BusOutputAsStruct "off" Name "Out1" } ParameterArgumentNames "" ComputedModelVersion "1.21" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" Created "Mon Jan 12 11:26:05 2009" Creator "magene" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "magene" ModifiedDateFormat "%" LastModifiedDate "Tue Jan 13 11:31:09 2009" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes 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 RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "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 1 Version "1.5.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.5.1" 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 "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "ode45" SolverName "ode45" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" SignalSizeVariationType "Allow only fixed size" } Simulink.DataIOCC { $ObjectID 3 Version "1.5.1" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.5.1" Array { Type "Cell" Dimension 4 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off EnforceIntegerDowncast on ExpressionFolding on EnableMemcpy on MemcpyThreshold 64 ExpressionDepthLimit 2147483647 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" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.5.1" 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" 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" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "Warning" LoggingUnavailableSignals "error" BlockIODiagnostic "none" } Simulink.HardwareCC { $ObjectID 6 Version "1.5.1" 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 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.5.1" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.SFSimCC { $ObjectID 8 Version "1.5.1" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimUseLocalCustomCode off SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 9 Version "1.5.1" Array { Type "Cell" Dimension 6 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" PropName "DisabledProps" } SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on 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 TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.5.1" Array { Type "Cell" Dimension 17 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.5.1" Array { Type "Cell" Dimension 16 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns 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 EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition " [ 840, 485, 1720, 1115 ] " } 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 } 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" } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Derivative LinearizePole "inf" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParameterDataTypeMode "Same as input" ParameterDataType "fixdt(1,16,0)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType InitialCondition Value "1" SampleTime "-1" } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: auto" LockScale off SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal 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 Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: auto" LockScale off 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 "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } Block { BlockType Scope ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Terminator } } System { Name "ESPWinch3_n" Location [509, 368, 1867, 1182] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Sum Name "Add" Ports [2, 1] Position [415, 497, 445, 528] InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^-10" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "Force" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Add1" Ports [2, 1] Position [375, 612, 405, 643] InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^-10" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add2" Ports [4, 1] Position [365, 275, 395, 365] Orientation "left" Inputs "++++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^-10" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Cable Weight / m H2O" Position [915, 153, 965, 207] Orientation "left" Gain "0.228" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Derivative Name "Derivative" Position [945, 335, 975, 365] Orientation "left" Port { PortNumber 1 Name "WaveDot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Derivative Name "Derivative1" Position [765, 335, 795, 365] Orientation "left" Port { PortNumber 1 Name "WaveDotDot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Product Name "Divide" Ports [2, 1] Position [510, 507, 540, 538] Inputs "*/" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^-10" OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "thetaDotDot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType SubSystem Name "Drag Force" Ports [1, 1] Position [690, 222, 760, 268] Orientation "left" PermitHierarchicalResolution "ExplicitOnly" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskDisplay "disp('fcn');" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Drag Force" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" Position [20, 101, 40, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 160, 320, 200] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function ESPWinch3_n 1" Ports [1, 2] Position [180, 100, 230, 160] FunctionName "sf_sfun" PortCounts "[1 2]" EnableBusSupport on Port { PortNumber 2 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " Position [460, 171, 480, 189] } Block { BlockType Outport Name "y" Position [460, 101, 480, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "y" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "y" DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } } } Block { BlockType Constant Name "Drum Inertia" Position [270, 670, 300, 700] Value "1.024" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Gain Name "Drum Radius (m)" Position [255, 298, 305, 342] Orientation "left" Gain "0.225" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "ESP Weight H2O" Position [930, 80, 960, 110] Orientation "left" Value "120" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType InitialCondition Name "IC" Position [650, 328, 670, 372] Orientation "left" } Block { BlockType SubSystem Name "Inertial Force" Ports [1, 1] Position [480, 327, 550, 373] Orientation "left" PermitHierarchicalResolution "ExplicitOnly" MinAlgLoopOccurrences on PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskDisplay "disp('fcn');" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Inertial Force" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" Position [20, 101, 40, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 160, 320, 200] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function ESPWinch3_n 2" Ports [1, 2] Position [180, 100, 230, 160] FunctionName "sf_sfun" PortCounts "[1 2]" EnableBusSupport on Port { PortNumber 2 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " Position [460, 171, 480, 189] } Block { BlockType Outport Name "y" Position [460, 101, 480, 119] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "y" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "y" DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } } } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [775, 510, 805, 540] } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [955, 510, 985, 540] } Block { BlockType Constant Name "Motor Current" Position [120, 505, 150, 535] Value "0" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Motor Inertia" Position [270, 605, 300, 635] Value ".001" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Gain Name "Motor Torque Const (N-m/A)" Position [250, 498, 300, 542] Gain "0.58" ParameterDataTypeMode "Inherit via internal rule" ParameterDataType "sfix(16)" ParameterScaling "2^0" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [595, 340, 615, 360] Orientation "left" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [840, 340, 860, 360] Orientation "left" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sin Name "Wave Profile" Ports [0, 1] Position [1090, 335, 1120, 365] Orientation "left" Bias "10" Frequency ".628" SampleTime "0" Port { PortNumber 1 Name "WaveX" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Outport Name "Out1" Position [1075, 518, 1105, 532] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Scope Name "Floating\nScope" Ports [] Position [185, 14, 215, 46] IOType "viewer" List { ListType IOSignalStrings set0ParseKeys "6" set0Sigs "Add:o1" } Floating on Location [376, 294, 700, 533] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } DataFormat "StructureWithTime" SampleTime "0" } Line { SrcBlock "Motor Current" SrcPort 1 DstBlock "Motor Torque Const (N-m/A)" DstPort 1 } Line { SrcBlock "Motor Torque Const (N-m/A)" SrcPort 1 DstBlock "Add" DstPort 2 } Line { SrcBlock "Drum Inertia" SrcPort 1 Points [35, 0; 0, -50] DstBlock "Add1" DstPort 2 } Line { Name "Force" Labels [0, 0] SrcBlock "Add" SrcPort 1 DstBlock "Divide" DstPort 1 } Line { SrcBlock "Add1" SrcPort 1 Points [85, 0] DstBlock "Divide" DstPort 2 } Line { Name "thetaDotDot" Labels [0, 0] SrcBlock "Divide" SrcPort 1 Points [60, 0] Branch { DstBlock "Integrator" DstPort 1 } Branch { DstBlock "Sum" DstPort 2 } } Line { SrcBlock "Integrator" SrcPort 1 Points [45, 0] Branch { DstBlock "Integrator1" DstPort 1 } Branch { Points [-5, 0] DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "Integrator1" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { Name "WaveX" Labels [0, 0] SrcBlock "Wave Profile" SrcPort 1 Points [-70, 0] Branch { Labels [1, 0] DstBlock "Derivative" DstPort 1 } Branch { Points [0, -170] DstBlock "Cable Weight / m H2O" DstPort 1 } } Line { Name "WaveDotDot" Labels [0, 0] SrcBlock "Derivative1" SrcPort 1 DstBlock "IC" DstPort 1 } Line { SrcBlock "Motor Inertia" SrcPort 1 DstBlock "Add1" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Inertial Force" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [-10, 0] Branch { DstBlock "Derivative1" DstPort 1 } Branch { Points [0, -105] DstBlock "Drag Force" DstPort 1 } } Line { Name "WaveDot" Labels [0, 0] SrcBlock "Derivative" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "ESP Weight H2O" SrcPort 1 Points [-500, 0; 0, 195] DstBlock "Add2" DstPort 1 } Line { SrcBlock "Inertial Force" SrcPort 1 DstBlock "Add2" DstPort 4 } Line { SrcBlock "Drag Force" SrcPort 1 Points [-220, 0; 0, 85] DstBlock "Add2" DstPort 3 } Line { SrcBlock "Cable Weight / m H2O" SrcPort 1 Points [-465, 0; 0, 130] DstBlock "Add2" DstPort 2 } Line { SrcBlock "Add2" SrcPort 1 DstBlock "Drum Radius (m)" DstPort 1 } Line { SrcBlock "Drum Radius (m)" SrcPort 1 Points [-15, 0; 0, 125; 105, 0; 0, 60] DstBlock "Add" DstPort 1 } Line { SrcBlock "IC" SrcPort 1 DstBlock "Sum" DstPort 1 } Annotation { Name "thetaDot" Position [853, 533] } Annotation { Name "theta" Position [1016, 529] } } } # Finite State Machines # # Stateflow Version 7.1 (R2008a) dated Sep 3 2008, 03:53:58 # # Stateflow { machine { id 1 name "ESPWinch3_n" created "12-Jan-2009 11:41:00" isLibrary 0 firstTarget 16 sfVersion 71014000.000007 } chart { id 2 name "Drag Force" windowPosition [375.75 203.25 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 2560 1600 1.611111111111111] treeNode [0 3 0 0] firstTransition 5 firstJunction 4 viewObj 2 machine 1 toolbarMode LIBRARY_TOOLBAR ssIdHighWaterMark 5 decomposition CLUSTER_CHART type EML_CHART firstData 6 chartFileNumber 1 disableImplicitCasting 1 eml { name "fcn" } } state { id 3 labelString "eML_blk_kernel()" position [18 64.5 118 66] fontSize 12 chart 2 treeNode [2 0 0 0] superState SUBCHART subviewer 2 ssIdNumber 1 type FUNC_STATE decomposition CLUSTER_STATE eml { isEML 1 script "function y = fcn(u)\n% This block supports the Embedded MATLAB subset.\n% See the help menu for d" "etails. \n\nveloc = u;\nCd = 0.5;\nESPDia = 0.6; %m\nSWDensity = 1024; %kgf / m^3\n\nESPArea = (" "pi/4) * ESPDia^2;\nDragForce = (1/2) * Cd * ESPArea * SWDensity * veloc^2;\n\ny = DragForce;" editorLayout "100 M4x1[146 214 671 364]" } } junction { id 4 position [23.5747 49.5747 7] chart 2 linkNode [2 0 0] subviewer 2 ssIdNumber 3 type CONNECTIVE_JUNCTION } transition { id 5 labelString "{eML_blk_kernel();}" labelPosition [32.125 19.875 102.544 14.964] fontSize 12 src { intersection [0 0 1 0 23.5747 14.625 0 0] } dst { id 4 intersection [7 0 -1 -1 23.5747 42.5747 0 0] } midPoint [23.5747 24.9468] chart 2 linkNode [2 0 0] dataLimits [23.575 23.575 14.625 34.575] subviewer 2 drawStyle SMART executionOrder 1 ssIdNumber 2 } data { id 6 ssIdNumber 4 name "u" linkNode [2 0 7] scope INPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED } dataType "Inherit: Same as Simulink" } data { id 7 ssIdNumber 5 name "y" linkNode [2 6 0] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } instance { id 8 name "Drag Force" machine 1 chart 2 } chart { id 9 name "Inertial Force" windowPosition [375.75 203.25 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 2560 1600 1.611111111111111] treeNode [0 10 0 0] firstTransition 12 firstJunction 11 viewObj 9 machine 1 toolbarMode LIBRARY_TOOLBAR ssIdHighWaterMark 5 decomposition CLUSTER_CHART type EML_CHART firstData 13 chartFileNumber 2 disableImplicitCasting 1 eml { name "fcn" } } state { id 10 labelString "eML_blk_kernel()" position [18 64.5 118 66] fontSize 12 chart 9 treeNode [9 0 0 0] superState SUBCHART subviewer 9 ssIdNumber 1 type FUNC_STATE decomposition CLUSTER_STATE eml { isEML 1 script "function y = fcn(u)\n% This block supports the Embedded MATLAB subset.\n% See the help menu for d" "etails. \n\naccel = u;\nESPWeight = 150; %kgf\nG = 9.8; %m / s^2\nSWDensity = 1024; %kgf / m^3\n" "ESPDia = .6; %m\n\nESPMass = ESPWeight / G;\nAddedMass = (2/3) * SWDensity * pi * (ESPDia/2)^3;\n\nFIner" "tial = accel * (ESPMass + AddedMass); \ny = FInertial;" editorLayout "100 M4x1[146 214 671 364]" } } junction { id 11 position [23.5747 49.5747 7] chart 9 linkNode [9 0 0] subviewer 9 ssIdNumber 3 type CONNECTIVE_JUNCTION } transition { id 12 labelString "{eML_blk_kernel();}" labelPosition [32.125 19.875 102.544 14.964] fontSize 12 src { intersection [0 0 1 0 23.5747 14.625 0 0] } dst { id 11 intersection [7 0 -1 -1 23.5747 42.5747 0 0] } midPoint [23.5747 24.9468] chart 9 linkNode [9 0 0] dataLimits [23.575 23.575 14.625 34.575] subviewer 9 drawStyle SMART executionOrder 1 ssIdNumber 2 } data { id 13 ssIdNumber 4 name "u" linkNode [9 0 14] scope INPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED } dataType "Inherit: Same as Simulink" } data { id 14 ssIdNumber 5 name "y" linkNode [9 13 0] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } instance { id 15 name "Inertial Force" machine 1 chart 9 } target { id 16 name "sfun" description "Default Simulink S-Function Target." machine 1 linkNode [1 0 0] } }