?? motorpid.mdl
字號:
Model {
Name "motorPID"
Version 4.00
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovNameIncrementing off
CovHtmlReporting on
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Fri Mar 22 14:39:55 2002"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Mon Mar 25 20:25:01 2002"
ModelVersionFormat "1.%<AutoIncrement:10>"
ConfigurationManager "none"
SimParamPage "Solver"
StartTime "0.0"
StopTime "10"
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 "[]"
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 on
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"
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"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
TLCProfiler off
TLCDebug off
TLCCoverage off
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
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 on
ExtModeLogAll on
OptimizeBlockIOStorage on
BufferReuse on
ParameterPooling on
BlockReductionOpt off
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 "motorPID"
Location [375, 290, 1042, 758]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType Clock
Name "Clock"
Position [50, 30, 70, 50]
DisplayTime off
Decimation "10"
}
Block {
BlockType Constant
Name "Constant"
Position [90, 125, 120, 155]
Value "1"
VectorParams1D on
}
Block {
BlockType SubSystem
Name "PID Controller"
Ports [1, 1]
Position [215, 124, 300, 156]
BackgroundColor "yellow"
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "PID Controller"
Location [433, 310, 851, 534]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [25, 33, 55, 47]
Port "1"
Interpolate on
}
Block {
BlockType Gain
Name "1/Ti"
Position [105, 85, 135, 115]
Gain "10"
Multiplication "Matrix(u*K)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Derivative
Name "Derivative"
Position [160, 145, 190, 175]
}
Block {
BlockType Gain
Name "Gain"
Position [155, 25, 185, 55]
Gain "10"
Multiplication "Matrix(u*K)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [165, 85, 195, 115]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [270, 40, 300, 70]
ShowName off
IconShape "round"
Inputs "|+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Td"
Position [105, 145, 135, 175]
Gain "10"
Multiplication "Matrix(u*K)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [335, 48, 365, 62]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "1/Ti"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [59, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 60]
Branch {
DstBlock "1/Ti"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Td"
DstPort 1
}
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [90, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Td"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
}
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [615, 194, 645, 226]
Floating off
Location [48, 421, 372, 660]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [150, 130, 170, 150]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [360, 130, 380, 150]
ShowName off
IconShape "round"
Inputs "++|"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [595, 125, 655, 155]
VariableName "y_PID"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [415, 35, 475, 65]
VariableName "u_PID"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [415, 122, 475, 158]
Numerator "[1]"
Denominator "[1 1]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [500, 122, 560, 158]
Numerator "[1]"
Denominator "[0.1 1]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType Constant
Name "disturbance"
Position [355, 45, 385, 75]
Orientation "down"
NamePlacement "alternate"
Value "10"
VectorParams1D on
}
Block {
BlockType ToWorkspace
Name "time"
Position [90, 28, 125, 52]
VariableName "t"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
Points [-5, 0; 0, 70]
Branch {
Points [0, 40; -410, 0]
DstBlock "Sum1"
DstPort 2
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "time"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Transfer Fcn"
DstPort 1
}
Branch {
Points [10, 0]
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "disturbance"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "PID Controller"
DstPort 1
}
Line {
SrcBlock "PID Controller"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
}
}
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