?? c_ss_controller.mdl
字號:
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 Damping"
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 Reference
Name "dc_motor_detailed3"
Ports [2, 7]
Position [80, 30, 205, 130]
BackgroundColor "lightBlue"
DropShadow on
SourceBlock "dc_motor_lib/dc_motor_detailed"
SourceType ""
ShowPortLabels on
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
Rm "Rm"
Lm "Lm"
Kb "Kb"
Kt "Kt"
Jm "Jm"
bm "bm"
Ktemp "14"
ttemp "910"
amb_temp "22"
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"
}
}
Block {
BlockType Outport
Name "states_X"
Position [560, 398, 590, 412]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "encoder"
Position [525, 238, 555, 252]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Current"
Position [490, 28, 520, 42]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "back_emf"
Position [490, 63, 520, 77]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
Name "dth_m"
SrcBlock "dc_motor_detailed3"
SrcPort 5
Points [65, 0]
Branch {
Labels [1, 1]
Points [0, 225]
DstBlock "Load"
DstPort 1
}
Branch {
Labels [3, 0]
Points [65, 0; 0, 250]
DstBlock "Mux"
DstPort 1
}
}
Line {
Name "th_m"
SrcBlock "dc_motor_detailed3"
SrcPort 6
Points [105, 0; 0, 135]
Branch {
Points [0, 110]
Branch {
Labels [1, 1]
DstBlock "Load"
DstPort 2
}
Branch {
Labels [2, 1]
Points [0, 30]
DstBlock "Mux"
DstPort 2
}
}
Branch {
DstBlock "encoder"
DstPort 1
}
}
Line {
Labels [0, 0]
SrcBlock "Mux"
SrcPort 1
Points [0, 0]
DstBlock "states_X"
DstPort 1
}
Line {
Name "dth_l"
Labels [-1, 1]
SrcBlock "Load"
SrcPort 2
Points [-25, 0; 0, 90]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Load"
SrcPort 1
Points [-100, 0; 0, -205]
DstBlock "dc_motor_detailed3"
DstPort 2
}
Line {
SrcBlock "dc_motor_detailed3"
SrcPort 3
DstBlock "Terminator"
DstPort 1
}
Line {
SrcBlock "dc_motor_detailed3"
SrcPort 4
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "dc_motor_detailed3"
SrcPort 7
DstBlock "Terminator2"
DstPort 1
}
Line {
SrcBlock "Vin"
SrcPort 1
DstBlock "dc_motor_detailed3"
DstPort 1
}
Line {
Name "current"
Labels [-1, 0]
SrcBlock "dc_motor_detailed3"
SrcPort 1
DstBlock "Current"
DstPort 1
}
Line {
SrcBlock "dc_motor_detailed3"
SrcPort 2
Points [145, 0; 0, 20]
DstBlock "back_emf"
DstPort 1
}
Line {
Name "th_l"
Labels [-1, 1]
SrcBlock "Load"
SrcPort 3
Points [0, 105]
DstBlock "Mux"
DstPort 4
}
}
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [680, 104, 710, 136]
Floating off
Location [388, 741, 712, 980]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.8"
YMax "-0.1"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope10"
Ports [1]
Position [465, 39, 495, 71]
Floating off
Location [35, 579, 359, 818]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-12.5"
YMax "12.5"
SaveName "ScopeData9"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [670, 39, 700, 71]
Floating off
Location [388, 741, 712, 980]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.1"
YMax "1.1"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [740, 129, 770, 161]
Floating off
Location [330, 284, 654, 523]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMax "15"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope8"
Ports [1]
Position [725, 74, 755, 106]
Floating off
Location [330, 284, 654, 523]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMax "15"
SaveName "ScopeData7"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [85, 70, 115, 100]
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [80, 130, 115, 160]
ShowName off
SampleTime "Ts"
}
Line {
SrcBlock "Mechanics"
SrcPort 4
Points [10, 0; 0, 45; -255, 0; 0, -50]
DstBlock "Amplifier"
DstPort 3
}
Line {
SrcBlock "Mechanics"
SrcPort 3
Points [20, 0; 0, 85; -280, 0; 0, -95]
DstBlock "Amplifier"
DstPort 2
}
Line {
SrcBlock "Amplifier"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Mechanics"
DstPort 1
}
Branch {
Points [0, -90]
DstBlock "Scope10"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 4
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Mechanics"
SrcPort 1
Points [70, 0]
Branch {
DstBlock "Demux"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0]
DstBlock "Scope8"
DstPort 1
}
Line {
SrcBlock "Mechanics"
SrcPort 2
Points [35, 0; 0, 125; -535, 0; 0, -110]
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Controller"
SrcPort 1
DstBlock "Amplifier"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "Controller"
DstPort 2
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Controller"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [60, 0; 0, 35; 10, 0]
DstBlock "Scope3"
DstPort 1
}
}
}
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