📄 exm08053_1.mdl
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DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Constant
Name "Max Brake"
Position [125, 35, 160, 55]
Value "Fmin"
}
Block {
BlockType Constant
Name "Max Thrust"
Position [25, 46, 60, 64]
Value "Fmax"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [400, 124, 405, 151]
Orientation "left"
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [255, 53, 275, 117]
ShowName off
Inputs "+--"
}
Block {
BlockType MinMax
Name "UpLim"
Ports [2, 1]
Position [90, 34, 115, 121]
Function "min"
Inputs "2"
}
Block {
BlockType Outport
Name "SaOut"
Position [420, 35, 450, 50]
Orientation "up"
}
Line {
SrcBlock "FcIn"
SrcPort 1
DstBlock "UpLim"
DstPort 2
}
Line {
SrcBlock "ClockIn"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
Name "x"
Labels [1, 0]
SrcBlock "Int2"
SrcPort 1
Points [10, 0; 0, 100]
DstBlock "FH"
DstPort 1
}
Line {
Name "Fh"
Labels [3, 0]
SrcBlock "FH"
SrcPort 1
Points [-150, 0; 0, -100]
DstBlock "Sum1"
DstPort 2
}
Line {
Name "Fw"
Labels [-1, 1]
SrcBlock "FW"
SrcPort 1
Points [-55, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "FW"
DstPort 1
}
Line {
Name "x'"
Labels [1, 0]
SrcBlock "Int1"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "SaOut"
DstPort 1
}
Branch {
DstBlock "Int2"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Mux"
DstPort 1
}
}
Line {
Name "x''"
Labels [-1, 1]
SrcBlock "InvMass"
SrcPort 1
DstBlock "Int1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "InvMass"
DstPort 1
}
Line {
Name " Fe"
Labels [1, 0]
SrcBlock "LowLim"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Max Brake"
SrcPort 1
DstBlock "LowLim"
DstPort 1
}
Line {
SrcBlock "UpLim"
SrcPort 1
DstBlock "LowLim"
DstPort 2
}
Line {
SrcBlock "Max Thrust"
SrcPort 1
DstBlock "UpLim"
DstPort 1
}
Annotation {
Name "Mux"
Position [401, 158]
}
Annotation {
Name "Sum1"
Position [263, 47]
}
}
}
Block {
BlockType Clock
Name "Clock"
Position [195, 65, 215, 85]
Decimation "10"
}
Block {
BlockType Constant
Name "Constant"
Position [140, 119, 180, 141]
Orientation "left"
NamePlacement "alternate"
}
Block {
BlockType Display
Name "Display"
Ports [1]
Position [230, 115, 320, 145]
Orientation "left"
NamePlacement "alternate"
Decimation "1"
}
Block {
BlockType SubSystem
Name "PID Controller"
Ports [2, 1]
Position [60, 31, 155, 89]
NamePlacement "alternate"
TreatAsAtomicUnit off
System {
Name "PID Controller"
Location [-32, 398, 408, 562]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "SaIn -"
Position [25, 62, 55, 78]
NamePlacement "alternate"
}
Block {
BlockType Inport
Name "ScIn +"
Position [25, 83, 55, 97]
Port "2"
}
Block {
BlockType DiscreteTransferFcn
Name "DD"
Position [145, 114, 200, 146]
Numerator "[1 -1]"
Denominator "[1 0]"
SampleTime "0.5"
Port {
PortNumber 1
Name "vd"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType DiscreteIntegrator
Name "DT-I"
Ports [1, 1]
Position [145, 63, 200, 97]
IntegratorMethod "Forward Euler"
ExternalReset "none"
InitialConditionSource "internal"
LimitOutput on
SampleTime "0.5"
}
Block {
BlockType Reference
Name "Kd"
Ports [1, 1]
Position [230, 119, 280, 141]
NamePlacement "alternate"
SourceBlock "simulink3/Math/Slider\nGain"
SourceType "Slider Gain"
low "0"
gain "71"
high "100"
}
Block {
BlockType Reference
Name "Ki"
Ports [1, 1]
Position [230, 69, 280, 91]
NamePlacement "alternate"
SourceBlock "simulink3/Math/Slider\nGain"
SourceType "Slider Gain"
low "0"
gain "0.705"
high "5"
}
Block {
BlockType Reference
Name "Kp "
Ports [1, 1]
Position [230, 19, 280, 41]
NamePlacement "alternate"
SourceBlock "simulink3/Math/Slider\nGain"
SourceType "Slider Gain"
low "0"
gain "74.3"
high "100"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [80, 60, 95, 100]
ShowName off
Inputs "-+"
Port {
PortNumber 1
Name "v"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [310, 60, 340, 100]
ShowName off
IconShape "round"
Inputs "+++"
Port {
PortNumber 1
Name "Fc"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType ZeroOrderHold
Name "ZOH"
Position [145, 14, 200, 46]
SampleTime "0.5"
}
Block {
BlockType Outport
Name "FcOut"
Position [370, 73, 400, 87]
}
Line {
SrcBlock "ScIn +"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "DT-I"
SrcPort 1
DstBlock "Ki"
DstPort 1
}
Line {
Name "vd"
Labels [0, 0]
SrcBlock "DD"
SrcPort 1
DstBlock "Kd"
DstPort 1
}
Line {
Name "v"
Labels [0, 0]
SrcBlock "Sum"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "DT-I"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "DD"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "ZOH"
DstPort 1
}
}
Line {
SrcBlock "SaIn -"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Ki"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Kd"
SrcPort 1
Points [40, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
Name "Fc"
Labels [0, 0]
SrcBlock "Sum1"
SrcPort 1
DstBlock "FcOut"
DstPort 1
}
Line {
SrcBlock "ZOH"
SrcPort 1
DstBlock "Kp "
DstPort 1
}
Line {
SrcBlock "Kp "
SrcPort 1
Points [40, 0]
DstBlock "Sum1"
DstPort 1
}
Annotation {
Name "Sum2"
Position [91, 109]
}
}
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [380, 114, 410, 146]
NamePlacement "alternate"
Location [653, 523, 949, 762]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "60"
YMax "120"
DataFormat "StructureWithTime"
}
Block {
BlockType Reference
Name "Slider Gain "
Ports [1, 1]
Position [50, 120, 115, 140]
Orientation "left"
NamePlacement "alternate"
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
low "0"
gain "90"
high "100"
Port {
PortNumber 1
Name "x'c"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Line {
SrcBlock "PID Controller"
SrcPort 1
Points [10, 0; 0, -15]
DstBlock "Automobile Model"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Automobile Model"
DstPort 2
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Slider Gain "
DstPort 1
}
Line {
Name "x'c"
Labels [0, 0]
SrcBlock "Slider Gain "
SrcPort 1
Points [-25, 0; 0, -55]
DstBlock "PID Controller"
DstPort 2
}
Line {
Name "x'"
SrcBlock "Automobile Model"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -50; -380, 0; 0, 35]
DstBlock "PID Controller"
DstPort 1
}
Branch {
Labels [1, 0]
Points [0, 35; -50, 0; 0, 35]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "Display"
DstPort 1
}
}
}
}
}
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