📄 pid_apxcas2x.mdl
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Name "Switch"
Position [230, 70, 260, 100]
Threshold "1"
}
Block {
BlockType Switch
Name "Switch1"
Position [190, 165, 220, 195]
Threshold "1"
}
Block {
BlockType Outport
Name "Out2"
Position [285, 78, 315, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Block {
BlockType Outport
Name "Out1"
Position [245, 173, 275, 187]
Port "2"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "In"
SrcPort 1
Points [-15, 0]
Branch {
DstBlock "Switch"
DstPort 3
}
Branch {
Points [-40, 0]
DstBlock "Switch1"
DstPort 1
}
}
Line {
SrcBlock "Condition"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 80]
DstBlock "Switch1"
DstPort 2
}
Branch {
Points [0, -15]
DstBlock "Switch"
DstPort 2
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [25, 0]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "Switch1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1, 0, 0, 0]
Position [240, 75, 260, 95]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [285, 78, 315, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Mdelay = 0"
SrcPort 1
Points [15, 0]
DstBlock "Mdelay\n> 0"
DstPort 1
}
Line {
SrcBlock "Mdelay\n> 0"
SrcPort 1
Points [15, 0]
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Mdelay = 0"
SrcPort 2
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Mdelay = 0"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1, 0, 0, 0]
Position [270, 75, 290, 95]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [105, 102, 180, 138]
Numerator "XnumPs{2,2}"
Denominator "XdenPs{2,2}"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [105, 25, 180, 65]
Numerator "XnumPs{2,1}"
Denominator "XdenPs{2,1}"
}
Block {
BlockType Outport
Name "Out1"
Position [315, 78, 345, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Pdelay"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Pdelay1"
DstPort 1
}
Line {
SrcBlock "Pdelay"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Pdelay1"
SrcPort 1
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Transfer Fcn1"
DstPort 1
}
Branch {
DstBlock "Transfer Fcn"
DstPort 1
}
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Realizable PID controller"
Ports [1, 1, 0, 0, 0]
Position [95, 98, 160, 142]
ShowPortLabels on
System {
Name "Realizable PID controller"
Location [179, 120, 574, 343]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [25, 93, 55, 107]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Gain
Name "Gain"
Position [80, 85, 110, 115]
Gain "K1"
SaturateOnIntegerOverflow on
}
Block {
BlockType Saturate
Name "Saturation"
Position [200, 93, 230, 117]
UpperLimit "Satub"
LowerLimit "Satlb"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1, 0, 0, 0]
Position [160, 95, 180, 115]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [290, 90, 310, 110]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [180, 160, 235, 200]
Orientation "left"
NamePlacement "alternate"
Numerator "[1]"
Denominator "[TauI1 1]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn2"
Position [175, 27, 255, 73]
Numerator "[TauD1 0]"
Denominator "[0.05*TauD1 1]"
}
Block {
BlockType Outport
Name "Out1"
Position [340, 93, 370, 107]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
Points [-30, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Transfer Fcn2"
SrcPort 1
Points [15, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Transfer Fcn2"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Sum3"
DstPort 2
}
Branch {
Points [0, 75]
DstBlock "Transfer Fcn1"
DstPort 1
}
}
}
}
Block {
BlockType Saturate
Name "Saturation"
Position [420, 113, 450, 137]
UpperLimit "Satub"
LowerLimit "Satlb"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [800, 115, 830, 145]
Floating off
Location [267, 294, 949, 625]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1, 0, 0, 0, 0]
Position [395, 50, 425, 80]
Orientation "left"
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step Input"
Position [65, 55, 85, 75]
Orientation "left"
Time "0"
Before "0"
After "Setpoint"
SampleTime "0"
}
Block {
BlockType Step
Name "Step Input1"
Position [510, 45, 530, 65]
Time "0"
Before "0"
After "Disturb"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [275, 115, 295, 135]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1, 0, 0, 0]
Position [55, 110, 75, 130]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [580, 110, 600, 130]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [790, 50, 850, 80]
VariableName "simout"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [495, 170, 555, 200]
VariableName "effort"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType TransferFcn
Name "q2 invert"
Position [185, 102, 245, 138]
Numerator "conv(denCs2,Qdden)"
Denominator "conv(numCs2,Qdden)"
}
Line {
SrcBlock "Step Input"
SrcPort 1
Points [-20, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "1st order lag PID"
DstPort 1
}
Line {
SrcBlock "Multi_tf Process2"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Step Input1"
SrcPort 1
Points [30, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "1st order lag PID"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "To Workspace1"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
DstBlock "Multi_tf Process2"
DstPort 1
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 105; -345, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Multi_tf Process1"
DstPort 1
}
}
Line {
SrcBlock "Realizable PID controller"
SrcPort 1
DstBlock "q2 invert"
DstPort 1
}
Line {
SrcBlock "q2 invert"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Realizable PID controller"
DstPort 1
}
Line {
SrcBlock "Multi_tf Process1"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 125; -695, 0]
DstBlock "Sum1"
DstPort 2
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
}
}
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