📄 pid2df2lag.mdl
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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 [615, 150, 645, 180]
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 [40, 200, 60, 220]
Orientation "left"
Time "0"
Before "0"
After "Setpoint"
SampleTime "0"
}
Block {
BlockType Step
Name "Step Input1"
Position [265, 15, 285, 35]
Time "0"
Before "0"
After "Disturb"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [125, 120, 145, 140]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [535, 110, 555, 130]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [420, 115, 440, 135]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [595, 75, 655, 105]
VariableName "simout"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [350, 175, 410, 205]
VariableName "effort"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType SubSystem
Name "conditinal switch\nd_through_p"
Description "pass input signal through out1 if condition is "
"true."
Ports [1, 2, 0, 0, 0]
Position [335, 35, 385, 75]
ShowPortLabels on
System {
Name "conditinal switch\nd_through_p"
Location [401, 225, 815, 518]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [235, 133, 265, 147]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Constant
Name "Condition"
Position [60, 80, 130, 120]
Value "d_through_p"
}
Block {
BlockType Constant
Name "Constant1"
Position [115, 180, 145, 200]
Value "0"
}
Block {
BlockType Constant
Name "Constant2"
Position [155, 50, 185, 70]
Value "0"
}
Block {
BlockType Switch
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 TransferFcn
Name "pre-filter"
Position [25, 103, 105, 147]
Numerator "Pre_fil_num"
Denominator "Pre_fil_den"
}
Line {
SrcBlock "Disturbance lag"
SrcPort 1
Points [5, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "2st order lag PID"
DstPort 1
}
Line {
SrcBlock "pre-filter"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Step Input"
SrcPort 1
Points [-25, 0]
DstBlock "pre-filter"
DstPort 1
}
Line {
SrcBlock "2st order lag PID"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Step Input1"
SrcPort 1
Points [30, 0]
DstBlock "conditinal switch\nd_through_p"
DstPort 1
}
Line {
SrcBlock "conditinal switch\nd_through_p"
SrcPort 1
Points [20, 0]
DstBlock "Disturbance lag"
DstPort 1
}
Line {
SrcBlock "conditinal switch\nd_through_p"
SrcPort 2
Points [15, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Pdelay"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Process"
DstPort 1
}
Line {
SrcBlock "Process"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 120; -450, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Pdelay"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
}
}
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