pidex3a.mdl

关于电机的.m程序

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	      InitializeStates	      "reset"
	      ActionType	      "else"
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	Block {
	  BlockType		  Gain
	  Name			  "Gain"
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	  ShowName		  off
	  Gain			  "Ki"
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	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [105, 16, 135, 44]
	  ShowName		  off
	  Gain			  "Kp"
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	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [105, 115, 135, 145]
	  ShowName		  off
	  Gain			  "Kd"
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	Block {
	  BlockType		  If
	  Name			  "If"
	  Ports			  [1, 2]
	  Position		  [30, 228, 120, 277]
	  IfExpression		  "u1<0"
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	Block {
	  BlockType		  Integrator
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	  ShowName		  off
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	Block {
	  BlockType		  Saturate
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	  ShowName		  off
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	  Position		  [410, 80, 430, 100]
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	Block {
	  BlockType		  Sum
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	  Position		  [430, 145, 450, 165]
	  Orientation		  "left"
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	Block {
	  BlockType		  Sum
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	  Ports			  [2, 1]
	  Position		  [290, 240, 310, 260]
	  ShowName		  off
	  IconShape		  "round"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
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	Block {
	  BlockType		  Scope
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	  Ports			  [1]
	  Position		  [390, 228, 420, 272]
	  ForegroundColor	  "darkGreen"
	  Location		  [631, 605, 1125, 822]
	  Open			  on
	  NumInputPorts		  "1"
	  ZoomMode		  "xonly"
	  List {
	    ListType		    AxesTitles
	    axes1		    "System response 3"
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	  List {
	    ListType		    SelectedSignals
	    axes1		    ""
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	  TimeRange		  "2"
	  YMin			  "0"
	  YMax			  "1.5"
	  SaveName		  "ScopeData1"
	  DataFormat		  "StructureWithTime"
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	Block {
	  BlockType		  Outport
	  Name			  "c"
	  Position		  [505, 83, 535, 97]
	  InitialOutput		  "0"
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	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [280, 0]
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	  DstPort		  1
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	Line {
	  SrcBlock		  "er"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "Gain1"
	    DstPort		    1
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	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Gain2"
	    DstPort		    1
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	  Branch {
	    DstBlock		    "Gain"
	    DstPort		    1
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	Line {
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	  Points		  [150, 0]
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	  DstPort		  3
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	Line {
	  SrcBlock		  "Sum"
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	  Branch {
	    Points		    [0, 90]
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	  DstBlock		  "Sum"
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	Line {
	  SrcBlock		  "If"
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	  Points		  [80, 0]
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	  DstPort		  ifaction
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	Line {
	  SrcBlock		  "Constant"
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	  DstBlock		  "Abs\nOutput Reset1"
	  DstPort		  1
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	Line {
	  SrcBlock		  "If"
	  SrcPort		  1
	  Points		  [80, 0]
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	  DstPort		  ifaction
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	Line {
	  SrcBlock		  "Abs\nOutput Reset"
	  SrcPort		  1
	  Points		  [50, 0]
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	  DstPort		  1
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	  SrcBlock		  "Abs\nOutput Reset1"
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	Line {
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	  SrcBlock		  "Sum2"
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	  SrcPort		  1
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	  DstPort		  1
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	Annotation {
	  Name			  "antiwindup action by stopping integration"
	  Position		  [210, 61]
	}
	Annotation {
	  Name			  "limiter"
	  Position		  [466, 64]
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [95, 90, 115, 110]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Step
      Name		      "input"
      Position		      [25, 85, 55, 115]
      ForegroundColor	      "darkGreen"
      Time		      ".05"
      SampleTime	      "0"
    }
    Block {
      BlockType		      SubSystem
      Name		      "plant"
      Ports		      [1, 1]
      Position		      [240, 66, 350, 134]
      BackgroundColor	      "orange"
      ShowName		      off
      TreatAsAtomicUnit	      off
      MaskPromptString	      "Gain|Time constant [s]|Time delay [s]"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "Ka=@1;Ta=@2;Td=@3;"
      MaskDisplay	      "disp('PLANT3')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|0.25|0.05"
      System {
	Name			"plant"
	Location		[566, 536, 944, 686]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"136"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [25, 38, 55, 52]
	  ForegroundColor	  "red"
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	Block {
	  BlockType		  TransferFcn
	  Name			  "G(s)"
	  Position		  [80, 27, 140, 63]
	  ForegroundColor	  "red"
	  Numerator		  "[Ka]"
	  Denominator		  "[Ta 1]"
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	Block {
	  BlockType		  TransportDelay
	  Name			  "Transport\nDelay"
	  Position		  [175, 30, 205, 60]
	  ForegroundColor	  "red"
	  DelayTime		  "Td"
	  BufferSize		  "2048"
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	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [230, 38, 260, 52]
	  ForegroundColor	  "red"
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	  SrcBlock		  "In1"
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	  DstBlock		  "G(s)"
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      BlockType		      Scope
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      Ports		      [1]
      Position		      [460, 68, 490, 112]
      ForegroundColor	      "darkGreen"
      Location		      [155, 374, 649, 808]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
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	ListType		SelectedSignals
	axes1			""
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      YMin		      "0"
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      Branch {
	Labels			[1, 0]
	Points			[0, 75; -275, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "PID controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID controller"
      SrcPort		      1
      DstBlock		      "plant"
      DstPort		      1
    }
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      SrcBlock		      "input"
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      Points		      [0, 0; 15, 0]
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	DstBlock		"Sum"
	DstPort			1
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	Points			[0, -55; 305, 0; 0, 35]
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    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "response"
      DstPort		      1
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    Annotation {
      Name		      "EXAMPLE 3"
      Position		      [259, 24]
      ForegroundColor	      "white"
      BackgroundColor	      "blue"
      FontSize		      14
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Kpu = 8.5\n Tu  = 0.19"
      Position		      [485, 158]
      FontName		      "Arial"
      FontSize		      16
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}