?? control.mdl
字號:
LogVarNameModifier "rt_"
MatFileLogging on
MultiInstanceERTCode off
SupportNonFinite on
SupportComplex on
PurelyIntegerCode off
SupportContinuousTime on
SupportNonInlinedSFcns on
ExtMode off
ExtModeStaticAlloc off
ExtModeTesting off
ExtModeStaticAllocSize 1000000
ExtModeTransport 0
ExtModeMexFile "ext_comm"
RTWCAPISignals off
RTWCAPIParams off
RTWCAPIStates off
GenerateASAP2 off
}
PropName "Components"
}
}
PropName "Components"
}
Name "Configuration"
SimulationMode "normal"
CurrentDlgPage "Solver"
}
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
}
BlockParameterDefaults {
Block {
BlockType Derivative
LinearizePole "inf"
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType Scope
Floating off
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 "0"
}
Block {
BlockType Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
}
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 "control"
Location [29, 207, 690, 585]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Sum
Name "Add"
Ports [3, 1]
Position [155, 249, 185, 281]
Orientation "left"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Derivative
Name "Derivative"
Position [220, 200, 250, 230]
Orientation "left"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [225, 320, 255, 350]
Orientation "left"
}
Block {
BlockType Step
Name "Step"
Position [50, 130, 80, 160]
Time "0"
After "9"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [120, 135, 140, 155]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType TransferFcn
Name "car"
Position [195, 22, 290, 58]
Numerator "[-1 10]"
Denominator "[20 0 0]"
}
Block {
BlockType Gain
Name "kd"
Position [270, 199, 315, 231]
Orientation "left"
Gain "22"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "ki"
Position [270, 322, 320, 348]
Orientation "left"
Gain "111"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "kp"
Position [220, 265, 270, 295]
Orientation "left"
Gain "44"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType TransferFcn
Name "pendlum"
Position [215, 126, 290, 164]
Denominator "[20 0]"
}
Block {
BlockType Scope
Name "thet"
Ports [1]
Position [370, 129, 400, 161]
Location [172, 95, 496, 334]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "x"
Ports [1]
Position [370, 24, 400, 56]
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "pendlum"
DstPort 1
}
Branch {
Points [0, -105]
DstBlock "car"
DstPort 1
}
}
Line {
SrcBlock "pendlum"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "thet"
DstPort 1
}
Branch {
Points [0, 70]
Branch {
DstBlock "kd"
DstPort 1
}
Branch {
Points [0, 65]
Branch {
DstBlock "kp"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "ki"
DstPort 1
}
}
}
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [-5, 0; 0, 40]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "kp"
SrcPort 1
Points [-5, 0; 0, -15]
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [-20, 0]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "ki"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Add"
SrcPort 1
Points [-20, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "car"
SrcPort 1
DstBlock "x"
DstPort 1
}
}
}
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