?? servo.mdl
字號:
Model { Name "servo" Version 4.00 SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip on BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off InitFcn "clear functions" Created "Wed Nov 3 20:14:37 1999" Creator "anton" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%<Auto>" LastModifiedBy "user" ModifiedDateFormat "%<Auto>" LastModifiedDate "Thu Aug 26 09:35:31 2004" ModelVersionFormat "1.%<AutoIncrement:250>" ConfigurationManager "none" SimParamPage "Solver" StartTime "0.0" StopTime "2" SolverMode "Auto" Solver "ode45" RelTol "1e-3" AbsTol "auto" Refine "1" MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[0.00199]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" LimitDataPoints off MaxDataPoints "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" SingleTaskRateTransMsg "none" MultiTaskRateTransMsg "error" IntegerOverflowMsg "warning" CheckForMatrixSingularity "none" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" LinearizationMsg "none" VectorMatrixConversionMsg "none" SfunCompatibilityCheckMsg "none" BlockPriorityViolationMsg "warning" ArrayBoundsChecking "none" ConsistencyChecking "none" ZeroCross on Profile off SimulationMode "normal" RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_default_tmf" RTWGenerateCodeOnly off TLCProfiler off TLCDebug off TLCCoverage off AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "oneshot" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off OptimizeBlockIOStorage on BufferReuse on ParameterPooling on BlockReductionOpt off RTWExpressionDepthLimit 5 BooleanDataType off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "servo" Location [92, 155, 573, 452] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Clock Name "Clock" Position [75, 20, 95, 40] DisplayTime off Decimation "10" } Block { BlockType SubSystem Name "Computer" Ports [2, 1] Position [160, 121, 225, 179] ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" Port { PortNumber 1 Name "u" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } System { Name "Computer" Location [98, 493, 440, 638] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In 1" Position [15, 18, 45, 32] Port "1" LatchInput off Interpolate on } Block { BlockType Inport Name "In 2" Position [15, 48, 45, 62] Port "2" LatchInput off Interpolate on } Block { BlockType Ground Name "Ground1" Position [55, 100, 75, 120] } Block { BlockType Ground Name "Ground2" Position [55, 65, 75, 85] } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [65, 16, 70, 54] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Schedule" Ports [1] Position [300, 59, 325, 81] Floating off Location [5, 385, 1023, 762] Open off NumInputPorts "1" TickLabels "on" ZoomMode "on" List { ListType AxesTitles axes1 "%<SignalLabel>" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "2" YMin "0.8" YMax "1.7" SaveToWorkspace off SaveName "ScopeData" DataFormat "Array" LimitDataPoints off MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Terminator Name "Terminator" Position [255, 40, 275, 60] } Block { BlockType Terminator Name "Terminator1" Position [255, 80, 275, 100] } Block { BlockType Reference Name "TrueTime Kernel" Ports [3, 4] Position [115, 22, 230, 98] DropShadow on SourceBlock "truetime/TrueTime Kernel" SourceType "" sfun "servo_init" } Block { BlockType Outport Name "Out 1" Position [280, 23, 310, 37] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "In 1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "TrueTime Kernel" SrcPort 1 DstBlock "Out 1" DstPort 1 } Line { SrcBlock "TrueTime Kernel" SrcPort 2 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "TrueTime Kernel" SrcPort 4 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "TrueTime Kernel" SrcPort 3 DstBlock "Schedule" DstPort 1 } Line { SrcBlock "Ground2" SrcPort 1 Points [20, 0] DstBlock "TrueTime Kernel" DstPort 2 } Line { SrcBlock "Ground1" SrcPort 1 Points [20, 0] DstBlock "TrueTime Kernel" DstPort 3 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "TrueTime Kernel" DstPort 1 } Line { SrcBlock "In 2" SrcPort 1 DstBlock "Mux" DstPort 2 } } } Block { BlockType TransferFcn Name "DC Servo" Position [270, 131, 340, 169] Numerator "[1000]" Denominator "[1 1 0]" AbsoluteTolerance "auto" Realization "auto" Port { PortNumber 1 Name "y" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } } Block { BlockType Display Name "Display" Ports [1] Position [130, 15, 220, 45] Format "short" Decimation "1" Floating off SampleTime "-1" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [390, 76, 395, 114] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SignalGenerator Name "Signal\nGenerator" Position [40, 120, 70, 150] WaveForm "square" Amplitude "1" Frequency "1" Units "Hertz" VectorParams1D on Port { PortNumber 1 Name "r" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } } Block { BlockType Scope Name "r,y" Ports [1] Position [425, 83, 450, 107] Floating off Location [594, 173, 997, 441] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "xonly" List { ListType AxesTitles axes1 "%<SignalLabel>" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "2" YMin "-1.5" YMax "1.5" SaveToWorkspace off SaveName "ScopeData" DataFormat "StructureWithTime" LimitDataPoints off MaxDataPoints "120000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Scope Name "u" Ports [1] Position [290, 58, 315, 82] Floating off Location [594, 495, 997, 763] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "xonly" List { ListType AxesTitles axes1 "%<SignalLabel>" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "2" YMin "-2" YMax "2" SaveToWorkspace off SaveName "ScopeData1" DataFormat "StructureWithTime" LimitDataPoints off MaxDataPoints "120000" Decimation "1" SampleInput off SampleTime "0" } Line { Name "u" FontSize 10 Labels [0, 1] SrcBlock "Computer" SrcPort 1 Points [20, 0] Branch { DstBlock "DC Servo" DstPort 1 } Branch { Points [0, -80] DstBlock "u" DstPort 1 } } Line { SrcBlock "Mux" SrcPort 1 DstBlock "r,y" DstPort 1 } Line { Name "r" FontSize 10 SrcBlock "Signal\nGenerator" SrcPort 1 Points [55, 0] Branch { Labels [-1, 1] DstBlock "Computer" DstPort 1 } Branch { Points [0, -30] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "Clock" SrcPort 1 DstBlock "Display" DstPort 1 } Line { Name "y" Labels [0, 1] SrcBlock "DC Servo" SrcPort 1 Points [15, 0] Branch { Labels [-1, 1] Points [20, 0; 0, 65; -250, 0; 0, -50] DstBlock "Computer" DstPort 2 } Branch { Points [0, -65] DstBlock "Mux" DstPort 1 } } Annotation { Position [241, 261] Text "TrueTime 1.2 PID-control of a DC servo\nCopyri""ght (c) 2004 Dan Henriksson and Anton Cervin\nDepartment of Automatic Control"", Lund University, Sweden\nPlease direct questions and bug reports to: truet""ime@control.lth.se " } }}