Model { Name "Brakes" Version 7.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.89" NumModelReferences 0 NumTestPointedSignals 3 TestPointedSignal { SignalName "phiR" FullBlockPath "Brakes/Enabled Subsystem/Gain" } TestPointedSignal { SignalName "FR" FullBlockPath "Brakes/Enabled Subsystem/Gain2" } TestPointedSignal { SignalName "wR" FullBlockPath "Brakes/Enabled Subsystem/Integrator AB=v0//rR" } } SavedCharacterEncoding "windows-1252" PreLoadFcn "JR=0.8;%Mass Moment of Inertia Wheel [kg/m^2] \nrR=0.3; %Wheel Radius [m]\ncw=0.3; %Drag Coefficient[-]\nA=2; %Frontal Area [m^2]\nrho=1.2; %Air Density [kg/m^3]\nm=1500; %Vehicle Mass [kg]\ng=9.81; %Acceleration of Gravity [m/s^2]\nc1=0.86;%Friction Coefficient Calculation [-]\nc2=33.82; %Friction Coefficient Calculation [-]\nc3=0.36;%Friction Coefficient Calculation [-]" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Apr 25 15:34:02 2006" Creator "visjf" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "visbma" ModifiedDateFormat "%" LastModifiedDate "Mon Mar 24 14:31:04 2014" RTWModifiedTimeStamp 317572096 ModelVersionFormat "1.%" ConfigurationManager "None" 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 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 "1.3.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.3.0" StartTime "0.0" StopTime "inf" AbsTol "auto" FixedStep "0.001" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "SingleTasking" Solver "ode3" SolverName "ode3" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.3.0" 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 Array { Type "Cell" Dimension 9 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "NoFixptDivByZeroProtection" Cell "OptimizeModelRefInitCode" Cell "BooleansAsBitfields" Cell "PassReuseOutputArgsAs" Cell "PassReuseOutputArgsThreshold" Cell "UseSpecifiedMinMax" Cell "InitFltsAndDblsToZero" PropName "DisabledProps" } Version "1.3.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.3.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskCondExecSysMsg "none" 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" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "None" LoggingUnavailableSignals "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.3.0" 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 "Zero" TargetEndianess "LittleEndian" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "MATLAB Host" TargetUnknown off ProdEqTarget off } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.3.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 7 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" Cell "GenerateSLWebview" PropName "DisabledProps" } Version "1.3.0" SystemTargetFile "cn.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "cn_msdll.tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "cn_make_rtw_hook" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime on GenerateTraceInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 21 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "IgnoreTestpoints" Cell "InsertPolySpaceComments" Cell "MATLABFcnDesc" Cell "CustomSymbolStrFcnArg" Cell "ReqsInCode" PropName "DisabledProps" } Version "1.3.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$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 } Simulink.STFCustomTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "SupportNonFinite" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off CompOptLevelCompliant off IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus 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 SystemTargetFile "cn.tlc" DialogCategory 0 Array { Type "Handle" Dimension 1 Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "SupportNonFinite" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off CompOptLevelCompliant off IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus 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 ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "noextcomm" ExtModeIntrfLevel "Level1" RTWCAPISignals on RTWCAPIParams on RTWCAPIStates off GenerateASAP2 off } PropName "Components" } CustomProperty { DataType "string" Name "OutputDir" Value "..\\..\\Exec32" } CustomProperty { DataType "slbool" Name "ExportCAPLFcn" Value on } CustomProperty { DataType "slbool" Name "EnableParameterization" Value on } CustomProperty { DataType "slbool" Name "EnableSignalAnalysis" Value on } CustomProperty { DataType "slbool" Name "GenerateDSPFile" Value off } CustomProperty { DataType "slbool" Name "PerformSimStepAtStart" Value off } CustomProperty { DataType "slbool" Name "UseFullSignalQualification" Value off } CustomProperty { DataType "slbool" Name "CheckCANoeBlockConfiguration" Value off } CustomProperty { DataType "slbool" Name "GenerateModelDescription" Value on } CustomProperty { DataType "slbool" Name "ConnectOpenPorts" Value off } CustomProperty { DataType "slbool" Name "PerformanceSysVars" Value off } CustomProperty { DataType "int32" Name "XcpMessageLength" Value -1 } CustomProperty { DataType "string" Name "visualVersion" Value "8.0" } } PropName "Components" } } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 -aXcpMessageLength=-1 " CurrentDlgPage "Real-Time Workshop/CN code generation options" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Display Format "short" Decimation "10" Floating off SampleTime "-1" } Block { BlockType EnablePort StatesWhenEnabling "held" ShowOutputPort off ZeroCross on } Block { BlockType From IconDisplay "Tag" } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } 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 "[]" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Goto IconDisplay "Tag" } Block { BlockType Ground } 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 "[]" 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 Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } 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 "[]" SignalType "auto" SamplingMode "auto" 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 "[]" 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" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit 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 OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via internal rule" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Terminator } 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 "[]" SampleTime "inf" FramePeriod "inf" } Block { BlockType Signum ZeroCross on SampleTime "-1" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "Brakes" Location [1244, 82, 1792, 614] 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 "100" ReportName "simulink-default.rpt" Block { BlockType SubSystem Name "Enabled\nSubsystem" Ports [0, 0, 1] Position [275, 64, 375, 106] TreatAsAtomicUnit on MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Enabled\nSubsystem" Location [444, 220, 1835, 1043] 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 "100" Block { BlockType EnablePort Name "Enable" Ports [] Position [1290, 125, 1310, 145] StatesWhenEnabling "reset" } Block { BlockType Constant Name "Constant2" Position [1075, 685, 1105, 715] Orientation "left" Value "5" } Block { BlockType Display Name "Display" Ports [1] Position [275, 100, 365, 130] Decimation "1" Lockdown off } Block { BlockType Product Name "Divide" Ports [2, 1] Position [1075, 517, 1105, 548] Inputs "*/" CollapseMode "All dimensions" SaturateOnIntegerOverflow off } Block { BlockType Fcn Name "Drag Force[N]" Position [850, 508, 950, 542] Expr "cw*A*rho/2*u^2" } Block { BlockType Fcn Name "Fcn" Position [920, 330, 1045, 360] Expr "c1*(1-exp(-c2*u))-c3*u" Port { PortNumber 1 Name "my" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType From Name "From" Position [960, 402, 1020, 428] CloseFcn "tagdialog Close" GotoTag "mass" } Block { BlockType From Name "From1" Position [960, 562, 1020, 588] CloseFcn "tagdialog Close" GotoTag "mass" } Block { BlockType Gain Name "Gain" Position [325, 294, 370, 336] Gain "1/JR" Port { PortNumber 1 Name "phiR" TestPoint on RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "Gain1" Position [490, 310, 520, 340] Gain "rR" } Block { BlockType Gain Name "Gain2" Position [1145, 328, 1215, 382] Gain "1.5*g" Port { PortNumber 1 Name "FR" TestPoint on RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "Gain3" Position [645, 57, 690, 93] Orientation "left" Gain "rR" } Block { BlockType Gain Name "Gain4" Position [1415, 520, 1445, 550] Gain ".1" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain5" Position [475, 144, 545, 176] Orientation "left" NamePlacement "alternate" Gain "20000" } Block { BlockType Gain Name "Gain6" Position [205, 404, 250, 446] Gain "1/3.6" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain7" Position [290, 403, 335, 447] Gain "1/rR" SaturateOnIntegerOverflow off } Block { BlockType Goto Name "Goto" Position [260, 507, 315, 533] GotoTag "mass" TagVisibility "local" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [405, 144, 435, 176] Orientation "left" NamePlacement "alternate" LimitOutput on LowerSaturationLimit "0" } Block { BlockType Integrator Name "Integrator\nAB=0" Ports [1, 1] Position [1340, 518, 1370, 552] LimitOutput on LowerSaturationLimit "0" } Block { BlockType Integrator Name "Integrator\nAB=v0" Ports [2, 2] Position [1185, 527, 1215, 563] InitialConditionSource "external" LimitOutput on LowerSaturationLimit "0" ShowSaturationPort on } Block { BlockType Integrator Name "Integrator\nAB=v0/rR" Ports [2, 1] Position [420, 306, 450, 339] InitialConditionSource "external" InitialCondition "v0/rR" LimitOutput on LowerSaturationLimit "0" Port { PortNumber 1 Name "wR" TestPoint on RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Step Name "MB [Nm]" Position [195, 265, 225, 295] Orientation "up" NamePlacement "alternate" FontSize 12 Time "0" After "5355" SampleTime "0" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [543, 420, 572, 460] Orientation "down" NamePlacement "alternate" ShowName off Inputs "2" DisplayOption "signals" } Block { BlockType Product Name "Product" Ports [2, 1] Position [710, 306, 745, 379] Inputs "*/" CollapseMode "All dimensions" Port { PortNumber 1 Name "lambda" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Product Name "Product1" Ports [2, 1] Position [1095, 337, 1125, 368] CollapseMode "All dimensions" SaturateOnIntegerOverflow off } Block { BlockType Scope Name "Scope" Ports [1] Position [1535, 519, 1565, 551] Floating off Location [1394, 608, 1718, 847] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "3" YMin "150" YMax "320" SaveToWorkspace on SaveName "x" DataFormat "Array" SampleTime "0" } Block { BlockType Scope Name "Scope1" Ports [1] Position [545, 510, 575, 540] Orientation "down" NamePlacement "alternate" Floating off Location [325, 742, 1151, 1183] Open off NumInputPorts "1" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" } YMin "19" YMax "22.25" SaveToWorkspace on SaveName "v" DataFormat "Array" SampleTime "0" } Block { BlockType Scope Name "Scope2" Ports [1] Position [875, 430, 905, 460] Orientation "down" NamePlacement "alternate" Floating off Location [1526, 201, 1850, 440] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } YMin "1" YMax "1" SaveToWorkspace on SaveName "lam" DataFormat "Array" SampleTime "0" } Block { BlockType Scope Name "Scope3" Ports [1] Position [1530, 349, 1560, 381] Floating off Location [1435, 191, 1759, 430] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "3" YMin "17707.5" YMax "17716" SaveToWorkspace on SaveName "x1" DataFormat "Array" SampleTime "0" } Block { BlockType Scope Name "Scope4" Ports [1] Position [1250, 599, 1280, 631] Floating off Location [53, 743, 377, 982] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "3" YMin "-1" YMax "1" SaveToWorkspace on SaveName "x2" DataFormat "Array" SampleTime "0" } Block { BlockType Signum Name "Sign" Position [605, 145, 635, 175] Orientation "left" NamePlacement "alternate" } Block { BlockType Reference Name "Signal Input1" Ports [0, 1] Position [90, 410, 140, 440] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Signal Input" SourceType "Signal Input Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" dbName "abs" nodeName "Chassis" msgName "MotorState" sigName "CarSpeed" editSampleTime "0" rawValue off } Block { BlockType Reference Name "Signal Output" Ports [1] Position [1515, 441, 1565, 469] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Signal Output" SourceType "Signal Output Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" dbName "abs" nodeName "Chassis" msgName "MotorState" sigName "CarSpeed" rawValue off } Block { BlockType Reference Name "Signal Output1" Ports [1] Position [1520, 601, 1570, 629] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Signal Output" SourceType "Signal Output Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" dbName " " nodeName " " msgName " " sigName "xF" rawValue off } Block { BlockType Reference Name "Signal Output2" Ports [1] Position [1020, 206, 1070, 234] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Signal Output" SourceType "Signal Output Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" dbName " " nodeName " " msgName " " sigName "lambda" rawValue off } Block { BlockType Reference Name "Signal Output3" Ports [1] Position [605, 201, 655, 229] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Signal Output" SourceType "Signal Output Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" dbName " " nodeName " " msgName " " sigName "vR" rawValue off } Block { BlockType Reference Name "Signal Output4" Ports [1] Position [850, 626, 900, 654] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Signal Output" SourceType "Signal Output Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" dbName " " nodeName " " msgName " " sigName "vF" rawValue off } Block { BlockType Constant Name "Slip Reference" Position [1040, 145, 1070, 175] Orientation "left" NamePlacement "alternate" Value ".13" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [285, 305, 305, 325] ShowName off IconShape "round" Inputs "-+|" CollapseMode "All dimensions" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [580, 315, 600, 335] ShowName off IconShape "round" Inputs "|-+" CollapseMode "All dimensions" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [985, 515, 1005, 535] ShowName off IconShape "round" Inputs "--|" CollapseMode "All dimensions" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [880, 150, 900, 170] Orientation "left" NamePlacement "alternate" IconShape "round" Inputs "|+-" CollapseMode "All dimensions" } Block { BlockType Switch Name "Switch" Position [250, 178, 280, 222] Criteria "u2 > Threshold" Port { PortNumber 1 Name "feedback" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Switch Name "Switch1" Position [960, 675, 990, 705] Orientation "left" NamePlacement "alternate" Threshold "5" } Block { BlockType Reference Name "System Variable Input" Ports [0, 1] Position [120, 187, 170, 213] AttributesFormatString "%::%" SourceBlock "canoelib/CANoe I//O/System Variable Input" SourceType "System Variable Input Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" nsName "Control" sysVarName "activeABS" arrayIndex "-1" editSampleTime "0" } Block { BlockType Constant Name "VehicleMass" Position [145, 505, 175, 535] Value "1500" } Line { SrcBlock "Integrator\nAB=v0" SrcPort 2 Points [15, 0] DstBlock "Scope4" DstPort 1 } Line { SrcBlock "Gain7" SrcPort 1 Points [55, 0; 0, -5] Branch { Points [0, -90] DstBlock "Integrator\nAB=v0/rR" DstPort 2 } Branch { Points [0, 190; 755, 0; 0, -55] DstBlock "Integrator\nAB=v0" DstPort 2 } } Line { Name "wR" Labels [0, 0] SrcBlock "Integrator\nAB=v0/rR" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { Name "phiR" Labels [0, 0] SrcBlock "Gain" SrcPort 1 DstBlock "Integrator\nAB=v0/rR" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 Points [-160, 0; 0, -40] Branch { Points [0, 0; 0, -125] Branch { DstBlock "Drag Force[N]" DstPort 1 } Branch { Points [-185, 0; 0, -120] Branch { Points [0, -5] Branch { Points [-20, 0] DstBlock "Sum1" DstPort 2 } Branch { Points [-45, 0] DstBlock "Mux" DstPort 2 } } Branch { Points [0, -45] DstBlock "Product" DstPort 2 } } } Branch { Points [0, -10] DstBlock "Signal Output4" DstPort 1 } } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Gain6" SrcPort 1 DstBlock "Gain7" DstPort 1 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Sign" DstPort 1 } Line { SrcBlock "Sign" SrcPort 1 DstBlock "Gain5" DstPort 1 } Line { SrcBlock "Gain5" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Slip Reference" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Scope1" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 Points [25, 0] Branch { DstBlock "Sum1" DstPort 1 } Branch { DstBlock "Mux" DstPort 1 } Branch { Points [0, -110] DstBlock "Signal Output3" DstPort 1 } } Line { Name "lambda" SrcBlock "Product" SrcPort 1 Points [140, 0] Branch { Points [0, 0] Branch { DstBlock "Fcn" DstPort 1 } Branch { Labels [2, 1] Points [0, 0; 0, -125] Branch { DstBlock "Sum3" DstPort 2 } Branch { DstBlock "Signal Output2" DstPort 1 } } } Branch { DstBlock "Scope2" DstPort 1 } } Line { SrcBlock "Integrator\nAB=0" SrcPort 1 DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Integrator\nAB=v0" SrcPort 1 Points [70, 0; 0, 10] Branch { Points [0, -10] DstBlock "Integrator\nAB=0" DstPort 1 } Branch { Points [0, -10] Branch { Points [0, 125; -270, 0; 0, 30] Branch { Points [0, -10] DstBlock "Switch1" DstPort 1 } Branch { DstBlock "Switch1" DstPort 2 } } Branch { Points [0, -80] Branch { DstBlock "Signal Output" DstPort 1 } Branch { Points [0, -90] DstBlock "Scope3" DstPort 1 } } } } Line { Name "FR" Labels [0, 0] SrcBlock "Gain2" SrcPort 1 Points [35, 0] Branch { Points [0, -280] DstBlock "Gain3" DstPort 1 } Branch { Points [0, 110; -260, 0] DstBlock "Sum2" DstPort 1 } } Line { SrcBlock "Drag Force[N]" SrcPort 1 DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "Gain3" SrcPort 1 Points [-565, 0; 0, 240] DstBlock "Sum" DstPort 2 } Line { Name "feedback" Labels [2, 0] SrcBlock "Switch" SrcPort 1 Points [10, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 Points [-190, 0; 0, 25] DstBlock "Switch" DstPort 1 } Line { SrcBlock "MB [Nm]" SrcPort 1 Points [0, -45] DstBlock "Switch" DstPort 3 } Line { SrcBlock "System Variable Input" SrcPort 1 Points [5, 0] Branch { DstBlock "Switch" DstPort 2 } Branch { Points [0, -85] DstBlock "Display" DstPort 1 } } Line { SrcBlock "Signal Input1" SrcPort 1 DstBlock "Gain6" DstPort 1 } Line { SrcBlock "VehicleMass" SrcPort 1 DstBlock "Goto" DstPort 1 } Line { Name "my" Labels [0, 0] SrcBlock "Fcn" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "From" SrcPort 1 Points [55, 0] DstBlock "Product1" DstPort 2 } Line { SrcBlock "Divide" SrcPort 1 DstBlock "Integrator\nAB=v0" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Divide" DstPort 1 } Line { SrcBlock "From1" SrcPort 1 Points [15, 0; 0, -35] DstBlock "Divide" DstPort 2 } Line { SrcBlock "Gain4" SrcPort 1 Points [30, 0] Branch { DstBlock "Scope" DstPort 1 } Branch { Points [0, 80] DstBlock "Signal Output1" DstPort 1 } } Annotation { Position [659, 90] } Annotation { Name "phiR''" Position [364, 296] } Annotation { Name "MR [Nm]" Position [113, 326] } Annotation { Name "vF" Position [602, 360] } Annotation { Name "vR" Position [536, 313] } Annotation { Name "vF [m/s]" Position [1263, 520] } Annotation { Name "FR" Position [1151, 336] } Annotation { Position [1385, 525] } } } Block { BlockType Reference Name "Simulation Step1" Ports [] Position [95, 90, 145, 120] AttributesFormatString "%" SourceBlock "canoelib/CANoe I//O/Simulation Step" SourceType "Simulation Step Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" mode "Offline" } Block { BlockType Reference Name "System Variable Input" Ports [0, 1] Position [95, 22, 145, 48] AttributesFormatString "%::%" SourceBlock "canoelib/CANoe I//O/System Variable Input" SourceType "System Variable Input Module" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" nsName "Control" sysVarName "brakeActive" arrayIndex "-1" editSampleTime "0" } Line { SrcBlock "System Variable Input" SrcPort 1 Points [175, 0] DstBlock "Enabled\nSubsystem" DstPort enable } Annotation { Name "\nJR=0.8;%Mass Moment of Inertia Wheel [kg/m^2] \nrR=0.3; %Wheel Radius [m]\ncw=0.3; %Drag Coefficient[-]\nA=2; %Frontal Area [m^2]\nrho=1.2; %Air Density [kg/m^3]\nm=1500; %Vehicle Mass [kg]\ng=9.81; %Acceleration of Gravity [m/s^2]\nc1=0.86;%Friction Coefficient Calculation [-]\nc2=33.82; %Friction Coefficient Calculation [-]\nc3=0.36;%Friction Coefficient Calculation [-]" Position [44, 269] HorizontalAlignment "left" FontSize 16 } } }