?? chap9_2.mdl
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Model {
Name "CHAP9_2"
Version 3.00
SimParamPage "Solver"
SampleTimeColors on
InvariantConstants off
WideVectorLines on
ShowLineWidths on
ShowPortDataTypes off
StartTime "0"
StopTime "5"
SolverMode "Auto"
Solver "ode45"
RelTol "1e-3"
AbsTol "auto"
Refine "1"
MaxStep "auto"
InitialStep "auto"
FixedStep "auto"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Matrix"
LimitMaxRows off
MaxRows "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
IntegerOverflowMsg "warning"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
ConsistencyChecking "off"
ZeroCross on
SimulationMode "normal"
BlockDataTips on
BlockParametersDataTip on
BlockAttributesDataTip off
BlockPortWidthsDataTip off
BlockDescriptionStringDataTip off
BlockMaskParametersDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
OptimizeBlockIOStorage on
BufferReuse on
BooleanDataType off
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly 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
Created "Mon Sep 18 10:59:00 2000"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Wed Dec 11 13:22:27 2002"
ModelVersionFormat "1.%<AutoIncrement:572>"
ConfigurationManager "none"
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 "CHAP9_2"
Location [8, 74, 804, 555]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "103"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType Gain
Name " "
Position [165, 78, 185, 112]
Gain "0"
SaturateOnIntegerOverflow on
}
Block {
BlockType Fcn
Name "Friction model"
Position [125, 80, 145, 110]
Expr "Fc1*sgn(u)+bc1*u"
}
Block {
BlockType FromWorkspace
Name "From\nWorkspace"
Position [15, 198, 80, 222]
VariableName "[time,rin]"
SampleTime "0.001"
Interpolate on
HoldFinalValue off
}
Block {
BlockType FromWorkspace
Name "From\nWorkspace1"
Position [20, 33, 85, 57]
VariableName "[time,drin]"
SampleTime "0.001"
Interpolate on
HoldFinalValue off
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1, 0, 0, 0]
Position [500, 162, 530, 198]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Gain
Name "Kd"
Position [320, 155, 350, 185]
Gain "kd"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Ku"
Position [370, 155, 400, 185]
Gain "ku"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Kv"
Position [320, 280, 350, 310]
Orientation "left"
Gain "kv"
SaturateOnIntegerOverflow on
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [620, 271, 645, 304]
ShowName off
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [620, 151, 645, 189]
ShowName off
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Reference
Name "PID Controller"
Ports [1, 1, 0, 0, 0]
Position [165, 188, 185, 232]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "kpp"
I "kii"
D "kdd"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [665, 275, 690, 305]
Floating off
Location [141, 67, 635, 377]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-7"
YMax "7"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1, 0, 0, 0, 0]
Position [665, 152, 690, 188]
Floating off
Location [108, 100, 603, 412]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-1.73472e-018"
YMax "0.019"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [2, 1, 0, 0, 0]
Position [415, 162, 445, 198]
ForegroundColor "lightBlue"
ShowPortLabels on
System {
Name "Subsystem"
Location [-14, 75, 608, 450]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "98"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [55, 163, 85, 177]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "In2"
Position [55, 243, 85, 257]
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Gain
Name "\n\n\n\n"
Position [395, 340, 425, 370]
Orientation "left"
Gain "Ce"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "\n\n\n\n \n"
Position [245, 110, 275, 140]
Orientation "left"
Gain "ki"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name " "
Position [360, 155, 390, 185]
Gain "km"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name " "
Position [250, 152, 295, 188]
Numerator "[1]"
Denominator "[L R]"
}
Block {
BlockType TransferFcn
Name " "
Position [515, 152, 560, 188]
Numerator "[1]"
Denominator "[J b]"
}
Block {
BlockType Gain
Name " "
Position [400, 233, 420, 267]
Gain "1"
SaturateOnIntegerOverflow on
}
Block {
BlockType Fcn
Name "Friction model"
Position [260, 235, 305, 265]
Expr "Fc*sgn(u)+bc*u"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [435, 99, 465, 131]
Floating off
Location [5, 30, 805, 583]
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