pidex1.mdl

关于电机的.m程序

      MaskEnableString	      "on,on,on,on"
      MaskVisibilityString    "on,on,on,on"
      MaskToolTipString	      "on,on,on,on"
      MaskVarAliasString      ",,,"
      MaskVariables	      "Kp=@1;Ki=@2;Kd=@3;sat=@4;"
      MaskDisplay	      "plot(0,0,100,100,[35,35,65],[70,30,30],[35,65],"
"[45,60])\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.5|0.09|0.77|inf"
      System {
	Name			"PID controller"
	Location		[570, 579, 991, 822]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"lightBlue"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"128"
	Block {
	  BlockType		  Inport
	  Name			  "er"
	  Position		  [15, 73, 45, 87]
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [85, 66, 110, 94]
	  ShowName		  off
	  Gain			  "Ki"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [85, 16, 115, 44]
	  ShowName		  off
	  Gain			  "Kp"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [85, 115, 115, 145]
	  ShowName		  off
	  Gain			  "Kd"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [140, 65, 165, 95]
	  ShowName		  off
	  LimitOutput		  on
	  UpperSaturationLimit	  "sat"
	  LowerSaturationLimit	  "-sat"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation"
	  Position		  [235, 70, 255, 90]
	  ShowName		  off
	  UpperLimit		  "sat"
	  LowerLimit		  "-sat"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [185, 70, 205, 90]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "approximate\nderivative"
	  Position		  [135, 112, 185, 148]
	  Numerator		  "[1 0]"
	  Denominator		  "[1e-3 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "c"
	  Position		  [270, 73, 300, 87]
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [75, 0]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "er"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    DstBlock		    "Gain"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "Gain1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Gain2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  DstBlock		  "c"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "approximate\nderivative"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "approximate\nderivative"
	  SrcPort		  1
	  Points		  [5, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
      }
    }
    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		      [235, 71, 330, 129]
      BackgroundColor	      "orange"
      ShowName		      off
      TreatAsAtomicUnit	      off
      MaskDisplay	      "disp('PLANT1')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"plant"
	Location		[569, 494, 966, 626]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"136"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [15, 38, 45, 52]
	  ForegroundColor	  "red"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G1"
	  Position		  [70, 28, 135, 62]
	  ForegroundColor	  "red"
	  Numerator		  "1"
	  Denominator		  "[4 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G2"
	  Position		  [155, 28, 230, 62]
	  ForegroundColor	  "red"
	  Numerator		  "1"
	  Denominator		  "[4 .6 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [255, 38, 285, 52]
	  ForegroundColor	  "red"
	}
	Line {
	  SrcBlock		  "G1"
	  SrcPort		  1
	  DstBlock		  "G2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "G1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "G2"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "response"
      Ports		      [1]
      Position		      [460, 68, 490, 112]
      ForegroundColor	      "darkGreen"
      Location		      [629, 81, 1122, 354]
      Open		      on
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"System response 1"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      TimeRange		      "100"
      YMin		      "0"
      YMax		      "1.1"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
    }
    Line {
      SrcBlock		      "plant"
      SrcPort		      1
      Points		      [45, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Labels			[1, 0]
	Points			[0, 55; -275, 0]
	DstBlock		"Sum"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "PID controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID controller"
      SrcPort		      1
      DstBlock		      "plant"
      DstPort		      1
    }
    Line {
      SrcBlock		      "input"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, -55; 305, 0; 0, 35]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "response"
      DstPort		      1
    }
    Annotation {
      Name		      "EXAMPLE 1"
      Position		      [254, 19]
      ForegroundColor	      "white"
      BackgroundColor	      "blue"
      FontSize		      14
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Kpu = 0.83\n Tu  = 11.6"
      Position		      [565, 143]
      FontName		      "Arial"
      FontSize		      16
    }
  }
}