?? block143.mdl
字號:
Branch {
Points [40, 0]
DstBlock "Derivative1"
DstPort 1
}
Branch {
Points [0, -45]
Branch {
Points [0, -60]
DstBlock "Product"
DstPort 2
}
Branch {
Points [130, 0]
DstBlock "Gain9"
DstPort 1
}
}
}
Line {
SrcBlock "Add5"
SrcPort 1
Points [0, 0]
DstBlock "Gain4"
DstPort 1
}
Line {
SrcBlock "Add1"
SrcPort 1
Points [0, 0]
DstBlock "Gain5"
DstPort 1
}
Line {
SrcBlock "Gain5"
SrcPort 1
Points [0, 0; 100, 0]
Branch {
Points [35, 0]
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 150]
Branch {
Points [0, 45]
DstBlock "Derivative"
DstPort 1
}
Branch {
Points [-85, 0]
DstBlock "Gain7"
DstPort 1
}
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [0, 0]
DstBlock "Gain8"
DstPort 1
}
Line {
SrcBlock "Gain6"
SrcPort 1
Points [0, 0; -35, 0]
Branch {
Points [-55, 0]
Branch {
Points [0, -50]
DstBlock "Add5"
DstPort 3
}
Branch {
Points [-25, 0]
Branch {
Points [5, 0]
DstBlock "Add2"
DstPort 1
}
Branch {
Points [0, 125]
DstBlock "Mux"
DstPort 2
}
}
}
Branch {
DstBlock "Out1"
DstPort 1
}
}
Line {
SrcBlock "Step"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -85; -75, 0]
Branch {
Points [15, 0]
DstBlock "Add2"
DstPort 2
}
Branch {
Points [0, 90]
DstBlock "Mux"
DstPort 1
}
}
Branch {
Points [0, 35]
DstBlock "Desired"
DstPort 1
}
}
Line {
SrcBlock "Gain7"
SrcPort 1
Points [-30, 0]
DstBlock "Add5"
DstPort 1
}
Line {
SrcBlock "Gain8"
SrcPort 1
Points [-30, 0]
DstBlock "Add5"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [30, 0; 0, 290]
DstBlock "Gain6"
DstPort 1
}
Line {
SrcBlock "Add4"
SrcPort 1
Points [65, 0; 0, -100]
DstBlock "Add1"
DstPort 2
}
Line {
SrcBlock "Gain9"
SrcPort 1
Points [35, 0]
DstBlock "Add4"
DstPort 1
}
Line {
SrcBlock "Gain10"
SrcPort 1
Points [35, 0]
DstBlock "Add4"
DstPort 2
}
Line {
SrcBlock "Derivative1"
SrcPort 1
Points [0, 0]
DstBlock "Gain10"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [25, 0]
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [30, 0; 0, 115; 95, 0]
DstBlock "Error"
DstPort 1
}
Line {
SrcBlock "Current Amplifier"
SrcPort 1
Points [0, 0]
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Kp"
SrcPort 1
Points [-105, 0]
DstBlock "Add3"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [-25, 0]
DstBlock "Add3"
DstPort 2
}
Line {
SrcBlock "Ki"
SrcPort 1
Points [-30, 0]
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Derivative2"
DstPort 1
}
Line {
SrcBlock "Derivative2"
SrcPort 1
Points [-25, 0]
DstBlock "Add3"
DstPort 3
}
Line {
SrcBlock "Add3"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Saturation"
DstPort 1
}
Branch {
Points [0, 175]
DstBlock "Add6"
DstPort 1
}
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [0, 0; -30, 0]
Branch {
Points [-20, 0]
DstBlock "Current Amplifier"
DstPort 1
}
Branch {
Points [0, 190]
DstBlock "Add6"
DstPort 2
}
}
Line {
SrcBlock "Add6"
SrcPort 1
Points [30, 0; 0, 10]
DstBlock "Kd1"
DstPort 1
}
Line {
SrcBlock "Kd1"
SrcPort 1
Points [50, 0; 0, 35; 70, 0]
DstBlock "Add7"
DstPort 2
}
Line {
SrcBlock "Add7"
SrcPort 1
Points [0, 0; 0, -75]
Branch {
Points [0, -55]
Branch {
Points [0, -45]
DstBlock "Kp"
DstPort 1
}
Branch {
Points [-35, 0]
DstBlock "Ki"
DstPort 1
}
}
Branch {
Points [0, 35]
DstBlock "Kd"
DstPort 1
}
}
Line {
SrcBlock "Add2"
SrcPort 1
Points [-10, 0; 0, 165]
DstBlock "Add7"
DstPort 1
}
Annotation {
Name "QL"
Position [563, 94]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [344, 23]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [65, 117]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [144, 445]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "i"
Position [190, 459]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Tout"
Position [812, 407]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "theta "
Position [908, 402]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "PL"
Position [210, 169]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "PL"
Position [494, 306]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Thm"
Position [587, 312]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "u"
Position [625, 416]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Td"
Position [686, 438]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Xv"
Position [80, 453]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Theta"
Position [938, 114]
UseDisplayTextAsClickCallback off
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
Ports [0, 1]
Position [350, 340, 390, 400]
NamePlacement "alternate"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
System {
Name "Subsystem1"
Location [2, 78, 1005, 718]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Sum
Name "Add"
Ports [2, 1]
Position [320, 113, 350, 157]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add1"
Ports [2, 1]
Position [580, 112, 610, 143]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add2"
Ports [2, 1]
Position [680, 412, 710, 443]
Orientation "left"
NamePlacement "alternate"
Inputs "-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add3"
Ports [3, 1]
Position [385, 402, 415, 548]
Orientation "left"
NamePlacement "alternate"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add4"
Ports [2, 1]
Position [460, 186, 485, 279]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add5"
Ports [3, 1]
Position [630, 260, 660, 390]
Orientation "left"
NamePlacement "alternate"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Current Amplifier"
Position [235, 460, 265, 490]
Orientation "left"
NamePlacement "alternate"
Gain "125"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Derivative
Name "Derivative"
Position [785, 310, 815, 340]
Orientation "left"
NamePlacement "alternate"
}
Block {
BlockType Derivative
Name "Derivative1"
Position [285, 240, 315, 270]
}
Block {
BlockType Derivative
Name "Derivative2"
Position [460, 510, 490, 540]
Orientation "left"
NamePlacement "alternate"
}
Block {
BlockType Scope
Name "Desired"
Ports [1]
Position [840, 539, 870, 571]
Floating off
Location [5, 52, 1021, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Error"
Ports [1]
Position [750, 604, 780, 636]
Orientation "left"
NamePlacement "alternate"
Floating off
Location [5, 52, 1021, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Gain
Name "Gain"
Position [385, 28, 440, 82]
Gain "18.234"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain10"
Position [375, 240, 405, 270]
Gain "0.000003925"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain4"
Position [520, 310, 550, 340]
Orientation "left"
NamePlacement "alternate"
Gain "1.11111"
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