?? chap9_2.mdl
字號:
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-80"
YMax "80"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum4"
Ports [3, 1, 0, 0, 0]
Position [180, 155, 210, 185]
ForegroundColor "red"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "-+-"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1, 0, 0, 0]
Position [435, 160, 455, 180]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [625, 163, 655, 177]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
SrcBlock "\n\n\n\n"
SrcPort 1
Points [-195, 0]
DstBlock "Sum4"
DstPort 3
}
Line {
SrcBlock " "
SrcPort 1
Points [30, 0]
Branch {
Points [0, 185]
DstBlock "\n\n\n\n"
DstPort 1
}
Branch {
DstBlock "Out1"
DstPort 1
}
}
Line {
SrcBlock " "
SrcPort 1
Points [30, 0]
Branch {
Points [0, -45]
DstBlock "\n\n\n\n \n"
DstPort 1
}
Branch {
DstBlock " "
DstPort 1
}
}
Line {
SrcBlock "\n\n\n\n \n"
SrcPort 1
Points [-45, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock " "
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum5"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "Scope"
DstPort 1
}
}
Line {
SrcBlock " "
SrcPort 1
Points [20, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Friction model"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "In2"
SrcPort 1
DstBlock "Friction model"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Sum4"
SrcPort 1
DstBlock " "
DstPort 1
}
Annotation {
Position [339, 158]
Text "i"
}
Annotation {
Position [419, 393]
Text "Direct Current Motor model\n"
}
Annotation {
Position [159, 66]
}
}
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [115, 200, 135, 220]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [285, 160, 305, 180]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1, 0, 0, 0]
Position [205, 160, 225, 180]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold2"
Position [245, 150, 265, 190]
SampleTime "0.001"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold3"
Position [205, 335, 225, 375]
Orientation "left"
SampleTime "0.001"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold4"
Position [560, 160, 580, 200]
SampleTime "0.001"
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Kd"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [15, 0]
Branch {
Points [15, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 115; 45, 0]
Branch {
Labels [1, 0]
DstBlock "Kv"
DstPort 1
}
Branch {
DstBlock "Mux"
DstPort 2
}
}
}
Branch {
Points [0, 65; -65, 0]
DstBlock "Subsystem"
DstPort 2
}
}
Line {
SrcBlock "Zero-Order\nHold4"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 175]
DstBlock "Zero-Order\nHold3"
DstPort 1
}
Branch {
DstBlock "Zero-Order\nHold4"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PID Controller"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold3"
SrcPort 1
Points [-75, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "From\nWorkspace1"
SrcPort 1
Points [20, 0]
Branch {
Points [485, 0; 0, 235]
DstBlock "Mux"
DstPort 1
}
Branch {
DstBlock "Friction model"
DstPort 1
}
}
Line {
SrcBlock "Friction model"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
SrcBlock " "
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Kv"
SrcPort 1
Points [-20, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "PID Controller"
SrcPort 1
Points [25, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Zero-Order\nHold2"
DstPort 1
}
Line {
SrcBlock "Ku"
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Ku"
DstPort 1
}
Line {
SrcBlock "From\nWorkspace"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -75; 505, 0]
DstBlock "Mux1"
DstPort 1
}
Branch {
DstBlock "Sum2"
DstPort 1
}
}
Line {
SrcBlock "Zero-Order\nHold2"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Annotation {
Position [231, 158]
Text "u"
}
Annotation {
Position [417, 377]
Text "Position Loop"
}
Annotation {
Position [473, 304]
Text "Velocity Loop"
}
Annotation {
Position [102, 429]
Text "Flight Simulator Servo System"
}
Annotation {
Position [137, 192]
Text "error"
}
}
}
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