?? a_ss_controller.mdl
字號(hào):
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "dth_m"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Load\ndamping"
SrcPort 1
Points [-90, 0]
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Rotor inertia1"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
Points [10, 0; 0, 195; -495, 0; 0, -130]
Branch {
DstBlock "c_torque"
DstPort 1
}
Branch {
DstBlock "Sum6"
DstPort 1
}
}
Line {
Name "torque_k"
Labels [0, 0]
SrcBlock "Spring \nconstant"
SrcPort 1
Points [50, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
Name "torque_b"
Labels [0, 0]
SrcBlock "Spring \ndamping"
SrcPort 1
Points [160, 0]
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Spring \nconstant"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Spring \ndamping"
DstPort 1
}
Line {
Name "ddth_l"
Labels [0, 0]
SrcBlock "Rotor inertia1"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
Name "th_l"
Labels [0, 0]
SrcBlock "Integrator4"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
DstBlock "th_l"
DstPort 1
}
Branch {
DstBlock "Sum4"
DstPort 2
}
}
Line {
Name "dth_l"
Labels [0, 0]
SrcBlock "Integrator3"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
Points [0, 70]
Branch {
DstBlock "dth_l"
DstPort 1
}
Branch {
DstBlock "Load\ndamping"
DstPort 1
}
}
Branch {
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Integrator4"
DstPort 1
}
}
}
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [390, 327, 395, 483]
ShowName off
DisplayOption "bar"
Port {
PortNumber 1
PropagatedSignals "dth_m, th_m, dth_l, th_l"
ShowPropagatedSignals "on"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Terminator
Name "Terminator"
Position [300, 55, 320, 75]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator1"
Position [325, 70, 345, 90]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator2"
Position [235, 115, 255, 135]
ShowName off
}
Block {
BlockType SubSystem
Name "dc_motor_detailed"
Ports [2, 7]
Position [80, 30, 205, 130]
BackgroundColor "lightBlue"
DropShadow on
AncestorBlock "dc_motor_lib/dc_motor_detailed"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskPromptString "Terminal Resistance (ohms)|Terminal inducta"
"nce (H)|Back EMF Constant (Vs/Rad)|Torque Constant (Nm/A)|Rotor Inertia (Kgm^"
"2)|Mechanical Damping (Nms/rad)|Thermal Resistance (K/W)|Thermal time constan"
"t (s)|Ambient temperature (C)"
MaskStyleString "edit,edit,edit,edit,edit,edit,edit,edit,edi"
"t"
MaskTunableValueString "on,on,on,on,on,on,on,on,on"
MaskCallbackString "||||||||"
MaskEnableString "on,on,on,on,on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on,on,on,on,on"
MaskToolTipString "on,on,on,on,on,on,on,on,on"
MaskVarAliasString ",,,,,,,,"
MaskVariables "Rm=@1;Lm=@2;Kb=@3;Kt=@4;Jm=@5;bm=@6;Ktemp=@"
"7;ttemp=@8;amb_temp=@9;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "Rm|Lm|Kb|Kt|Jm|bm|14|910|22"
MaskTabNameString ",,,,,,,,"
Port {
PortNumber 1
Name "current"
PropagatedSignals "Current"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 5
Name "dth_m"
PropagatedSignals "dth_m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 6
Name "th_m"
PropagatedSignals "th_m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "dc_motor_detailed"
Location [7, 384, 866, 964]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Vin"
Position [15, 88, 45, 102]
IconDisplay "Port number"
Port {
PortNumber 1
Name "Voltage_in"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Inport
Name "counter_torque"
Position [90, 423, 120, 437]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Abs
Name "Abs"
Position [460, 240, 490, 270]
SaturateOnIntegerOverflow off
ZeroCross on
SampleTime "-1"
}
Block {
BlockType Abs
Name "Abs1"
Position [460, 285, 490, 315]
SaturateOnIntegerOverflow off
ZeroCross on
SampleTime "-1"
}
Block {
BlockType Constant
Name "Ambient_temp"
Position [610, 224, 695, 256]
Value "amb_temp"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Gain
Name "Back EMF"
Position [95, 125, 135, 155]
Gain "Kb"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Divide"
Ports [2, 1]
Position [535, 262, 565, 293]
Inputs "**"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
RndMeth "Floor"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "Pm"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Inductance"
Position [245, 79, 300, 111]
Gain "1/Lm"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [350, 80, 380, 110]
IgnoreLimit off
Port {
PortNumber 1
Name "Current"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [350, 350, 380, 380]
IgnoreLimit off
Port {
PortNumber 1
Name "dth_m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [470, 350, 500, 380]
IgnoreLimit off
Port {
PortNumber 1
Name "th_m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator5"
Ports [1, 1]
Position [665, 160, 695, 190]
IgnoreLimit off
}
Block {
BlockType Gain
Name "Motor Resistance"
Position [240, 19, 295, 51]
Orientation "left"
Gain "Rm"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Rotor inertia"
Position [230, 349, 275, 381]
Gain "1/Jm"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "ddth_m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [170, 85, 190, 105]
ShowName off
IconShape "round"
Inputs "-+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [175, 355, 195, 375]
ShowName off
IconShape "round"
Inputs "-+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum7"
Ports [2, 1]
Position [520, 165, 540, 185]
ShowName off
IconShape "round"
Inputs "-+|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum8"
Ports [2, 1]
Position [730, 165, 750, 185]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Thermal\nRecistance"
Position [560, 158, 635, 192]
Gain "1/Ktemp"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Thermal\ndamping"
Position [570, 104, 680, 136]
Orientation "left"
Gain "Ktemp/ttemp"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Torque Constant"
Position [90, 350, 130, 380]
Gain "Kt"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "torque"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Visc damp1"
Position [260, 282, 310, 318]
Orientation "left"
Gain "bm"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Im"
Position [780, 88, 810, 102]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "back_emf"
Position [210, 133, 240, 147]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "P_m"
Position [780, 273, 810, 287]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "ddth_m"
Position [780, 518, 810, 532]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "dth_m"
Position [780, 468, 810, 482]
Port "5"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "th_m"
Position [780, 358, 810, 372]
Port "6"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "temp_m"
Position [780, 168, 810, 182]
Port "7"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Back EMF"
SrcPort 1
Points [40, 0]
Branch {
DstBlock "Sum"
DstPort 3
}
Branch {
DstBlock "back_emf"
DstPort 1
}
}
Line {
SrcBlock "Motor Resistance"
SrcPort 1
Points [-55, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Inductance"
DstPort 1
}
Line {
SrcBlock "Inductance"
SrcPort 1
Points [0, 0]
DstBlock "Integrator"
DstPort 1
}
Line {
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