📄 a_ss_controller.mdl
字号:
Name "Current"
Labels [0, 0]
SrcBlock "Integrator"
SrcPort 1
Points [40, 0; 0, -5]
Branch {
Points [0, -55]
DstBlock "Motor Resistance"
DstPort 1
}
Branch {
Points [0, 5]
Branch {
DstBlock "Im"
DstPort 1
}
Branch {
Points [0, 90; -345, 0; 0, 180]
DstBlock "Torque Constant"
DstPort 1
}
}
}
Line {
Name "dth_m"
Labels [0, 0]
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
DstBlock "Integrator2"
DstPort 1
}
Branch {
Points [0, -65]
Branch {
DstBlock "Visc damp1"
DstPort 1
}
Branch {
DstBlock "Abs1"
DstPort 1
}
}
Branch {
Points [0, 110]
Branch {
Points [-385, 0; 0, -335]
DstBlock "Back EMF"
DstPort 1
}
Branch {
DstBlock "dth_m"
DstPort 1
}
}
}
Line {
Name "torque"
Labels [0, 0]
SrcBlock "Torque Constant"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -110]
DstBlock "Abs"
DstPort 1
}
Branch {
Points [0, 0]
DstBlock "Sum1"
DstPort 2
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Rotor inertia"
DstPort 1
}
Line {
Name "ddth_m"
Labels [0, 0]
SrcBlock "Rotor inertia"
SrcPort 1
Points [40, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, 160]
DstBlock "ddth_m"
DstPort 1
}
}
Line {
SrcBlock "Integrator5"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Sum8"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "Thermal\ndamping"
DstPort 1
}
}
Line {
SrcBlock "Thermal\nRecistance"
SrcPort 1
DstBlock "Integrator5"
DstPort 1
}
Line {
SrcBlock "Sum7"
SrcPort 1
DstBlock "Thermal\nRecistance"
DstPort 1
}
Line {
SrcBlock "Thermal\ndamping"
SrcPort 1
Points [-35, 0]
DstBlock "Sum7"
DstPort 1
}
Line {
SrcBlock "Ambient_temp"
SrcPort 1
Points [40, 0]
DstBlock "Sum8"
DstPort 2
}
Line {
SrcBlock "Abs"
SrcPort 1
Points [25, 0]
DstBlock "Divide"
DstPort 1
}
Line {
SrcBlock "Abs1"
SrcPort 1
Points [25, 0]
DstBlock "Divide"
DstPort 2
}
Line {
Name "Voltage_in"
Labels [0, 0]
SrcBlock "Vin"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
Name "th_m"
Labels [0, 0]
SrcBlock "Integrator2"
SrcPort 1
DstBlock "th_m"
DstPort 1
}
Line {
SrcBlock "Sum8"
SrcPort 1
Points [0, 0]
DstBlock "temp_m"
DstPort 1
}
Line {
Name "Pm"
Labels [0, 0]
SrcBlock "Divide"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "P_m"
DstPort 1
}
Branch {
Points [0, -60; -85, 0; 0, -45]
DstBlock "Sum7"
DstPort 2
}
}
Line {
SrcBlock "Visc damp1"
SrcPort 1
Points [-70, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "counter_torque"
SrcPort 1
Points [60, 0]
DstBlock "Sum1"
DstPort 3
}
}
}
Block {
BlockType Outport
Name "states_X"
Position [560, 398, 590, 412]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Current"
Position [490, 28, 520, 42]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "back_emf"
Position [490, 63, 520, 77]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
Name "dth_m"
SrcBlock "dc_motor_detailed"
SrcPort 5
Points [65, 0]
Branch {
Labels [1, 1]
Points [0, 225]
DstBlock "Load"
DstPort 1
}
Branch {
Labels [3, 0]
Points [65, 0; 0, 250]
DstBlock "Mux"
DstPort 1
}
}
Line {
Name "th_m"
SrcBlock "dc_motor_detailed"
SrcPort 6
Points [105, 0; 0, 245]
Branch {
Labels [1, 1]
DstBlock "Load"
DstPort 2
}
Branch {
Labels [-1, 1]
Points [0, 30]
DstBlock "Mux"
DstPort 2
}
}
Line {
Labels [0, 0]
SrcBlock "Mux"
SrcPort 1
Points [0, 0]
DstBlock "states_X"
DstPort 1
}
Line {
Name "dth_l"
Labels [-1, 1]
SrcBlock "Load"
SrcPort 2
Points [-25, 0; 0, 90]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Load"
SrcPort 1
Points [-100, 0; 0, -205]
DstBlock "dc_motor_detailed"
DstPort 2
}
Line {
SrcBlock "dc_motor_detailed"
SrcPort 3
DstBlock "Terminator"
DstPort 1
}
Line {
SrcBlock "dc_motor_detailed"
SrcPort 4
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "dc_motor_detailed"
SrcPort 7
DstBlock "Terminator2"
DstPort 1
}
Line {
SrcBlock "Vin"
SrcPort 1
DstBlock "dc_motor_detailed"
DstPort 1
}
Line {
Name "current"
Labels [0, 0]
SrcBlock "dc_motor_detailed"
SrcPort 1
DstBlock "Current"
DstPort 1
}
Line {
SrcBlock "dc_motor_detailed"
SrcPort 2
Points [145, 0; 0, 20]
DstBlock "back_emf"
DstPort 1
}
Line {
Name "th_l"
Labels [-1, 1]
SrcBlock "Load"
SrcPort 3
Points [0, 105]
DstBlock "Mux"
DstPort 4
}
}
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [715, 164, 745, 196]
Floating off
Location [76, 89, 400, 328]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-25"
YMax "300"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [715, 59, 745, 91]
Floating off
Location [76, 89, 400, 328]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-25"
YMax "300"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [715, 114, 745, 146]
Floating off
Location [76, 89, 400, 328]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-25"
YMax "300"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope5"
Ports [1]
Position [435, 14, 465, 46]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-25"
YMax "300"
SaveName "ScopeData4"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope7"
Ports [1]
Position [290, 14, 320, 46]
Floating off
Location [760, 68, 1084, 307]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-25"
YMax "300"
SaveName "ScopeData6"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [20, 60, 50, 90]
SampleTime "Ts"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [220, 65, 240, 85]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Line {
SrcBlock "Mechanics"
SrcPort 1
Points [55, 0]
Branch {
DstBlock "Scope2"
DstPort 1
}
Branch {
Points [0, 90]
Branch {
Points [0, 75; -385, 0]
DstBlock "L"
DstPort 1
}
Branch {
DstBlock "Demux"
DstPort 1
}
}
}
Line {
SrcBlock "Mechanics"
SrcPort 3
Points [10, 0; 0, 50; -255, 0; 0, -50]
DstBlock "Amplifier"
DstPort 3
}
Line {
SrcBlock "Mechanics"
SrcPort 2
Points [20, 0; 0, 95; -275, 0; 0, -95]
DstBlock "Amplifier"
DstPort 2
}
Line {
SrcBlock "Amplifier"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Scope5"
DstPort 1
}
Branch {
DstBlock "Mechanics"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -45]
DstBlock "Scope7"
DstPort 1
}
Branch {
DstBlock "Amplifier"
DstPort 1
}
}
Line {
SrcBlock "L"
SrcPort 1
Points [0, -30]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Kstat"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Demux"
SrcPort 4
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Kstat"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [15, 0; 0, -30]
DstBlock "Scope3"
DstPort 1
}
}
}
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