servo.mdl

来自「一个很棒的网络控制系统仿真软件」· MDL 代码 · 共 569 行

Model {
  Name			  "servo"
  Version		  5.1
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ExecutionOrder		  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  InitFcn		  "clear functions"
  Created		  "Wed Nov  3 20:14:37 1999"
  Creator		  "anton"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "mandersson"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Jun 22 13:51:36 2005"
  ModelVersionFormat	  "1.%<AutoIncrement:254>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  LinearizationMsg	  "none"
  Profile		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  ExtModeLogAll		  on
  BufferReuse		  on
  SimulationMode	  "normal"
  Solver		  "ode45"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "2"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[0.00199]"
  Refine		  "1"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  Decimation		  "1"
  LimitDataPoints	  off
  MaxDataPoints		  "1000"
  ConsistencyChecking	  "none"
  ArrayBoundsChecking	  "none"
  AlgebraicLoopMsg	  "warning"
  BlockPriorityViolationMsg "warning"
  MinStepSizeMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  MultiTaskRateTransMsg	  "error"
  SingleTaskRateTransMsg  "none"
  CheckForMatrixSingularity "none"
  IntegerOverflowMsg	  "warning"
  Int32ToFloatConvMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  VectorMatrixConversionMsg "none"
  SignalLabelMismatchMsg  "none"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  SfunCompatibilityCheckMsg "none"
  RTWInlineParameters	  off
  BlockReductionOpt	  off
  BooleanDataType	  off
  ParameterPooling	  on
  OptimizeBlockIOStorage  on
  ZeroCross		  on
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  RTWRetainRTWFile	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "tp513594"
    Location		    [474, 95, 955, 392]
    Open		    off
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [75, 20, 95, 40]
      DisplayTime	      off
      Decimation	      "10"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Computer"
      Ports		      [2, 1]
      Position		      [160, 121, 225, 179]
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      Port {
	PortNumber		1
	Name			"u"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
      System {
	Name			"Computer"
	Location		[60, 236, 406, 378]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In 1"
	  Position		  [15, 18, 45, 32]
	  Port			  "1"
	  PortDimensions	  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "In 2"
	  Position		  [15, 48, 45, 62]
	  Port			  "2"
	  PortDimensions	  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground1"
	  Position		  [55, 100, 75, 120]
	}
	Block {
	  BlockType		  Ground
	  Name			  "Ground2"
	  Position		  [55, 65, 75, 85]
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [65, 16, 70, 54]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Scope
	  Name			  "Schedule"
	  Ports			  [1]
	  Position		  [300, 54, 325, 76]
	  Floating		  off
	  Location		  [99, 595, 1117, 972]
	  Open			  off
	  NumInputPorts		  "1"
	  TickLabels		  "on"
	  ZoomMode		  "on"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  List {
	    ListType		    SelectedSignals
	    axes1		    ""
	  }
	  Grid			  "on"
	  TimeRange		  "2"
	  YMin			  "0.8"
	  YMax			  "1.7"
	  SaveToWorkspace	  off
	  SaveName		  "ScopeData"
	  DataFormat		  "Array"
	  LimitDataPoints	  off
	  MaxDataPoints		  "5000"
	  Decimation		  "1"
	  SampleInput		  off
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator"
	  Position		  [255, 35, 275, 55]
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator1"
	  Position		  [270, 65, 290, 85]
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator2"
	  Position		  [255, 100, 275, 120]
	}
	Block {
	  BlockType		  Reference
	  Name			  "TrueTime Kernel"
	  Ports			  [3, 5]
	  Position		  [115, 22, 230, 98]
	  DropShadow		  on
	  SourceBlock		  "truetime/TrueTime Kernel"
	  SourceType		  ""
	  sfun			  "servo_init"
	  args			  "1"
	  battery		  off
	  clockdrift		  "0"
	  clockoffset		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out 1"
	  Position		  [280, 23, 310, 37]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "In 1"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  1
	  DstBlock		  "Out 1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  2
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  4
	  DstBlock		  "Terminator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  3
	  Points		  [0, 5]
	  DstBlock		  "Schedule"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Ground2"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Ground1"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "TrueTime Kernel"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In 2"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "TrueTime Kernel"
	  SrcPort		  5
	  Points		  [5, 0]
	  DstBlock		  "Terminator2"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      TransferFcn
      Name		      "DC Servo"
      Position		      [270, 131, 340, 169]
      Numerator		      "[1000]"
      Denominator	      "[1 1 0]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
      Port {
	PortNumber		1
	Name			"y"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Display
      Name		      "Display"
      Ports		      [1]
      Position		      [130, 15, 220, 45]
      Format		      "short"
      Decimation	      "1"
      Floating		      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [390, 76, 395, 114]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Signal\nGenerator"
      Position		      [40, 120, 70, 150]
      WaveForm		      "square"
      Amplitude		      "1"
      Frequency		      "1"
      Units		      "Hertz"
      VectorParams1D	      on
      Port {
	PortNumber		1
	Name			"r"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Scope
      Name		      "r,y"
      Ports		      [1]
      Position		      [425, 83, 450, 107]
      Floating		      off
      Location		      [594, 173, 997, 441]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      Grid		      "on"
      TimeRange		      "2"
      YMin		      "-1.5"
      YMax		      "1.5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      MaxDataPoints	      "120000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "u"
      Ports		      [1]
      Position		      [290, 58, 315, 82]
      Floating		      off
      Location		      [594, 495, 997, 763]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      Grid		      "on"
      TimeRange		      "2"
      YMin		      "-2"
      YMax		      "2"
      SaveToWorkspace	      off
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      MaxDataPoints	      "120000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Line {
      Name		      "u"
      FontSize		      10
      Labels		      [0, 1]
      SrcBlock		      "Computer"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	DstBlock		"DC Servo"
	DstPort			1
      }
      Branch {
	Points			[0, -80]
	DstBlock		"u"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "r,y"
      DstPort		      1
    }
    Line {
      Name		      "r"
      FontSize		      10
      SrcBlock		      "Signal\nGenerator"
      SrcPort		      1
      Points		      [55, 0]
      Branch {
	Labels			[-1, 1]
	DstBlock		"Computer"
	DstPort			1
      }
      Branch {
	Points			[0, -30]
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Display"
      DstPort		      1
    }
    Line {
      Name		      "y"
      Labels		      [0, 1]
      SrcBlock		      "DC Servo"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Labels			[-1, 1]
	Points			[20, 0; 0, 65; -250, 0; 0, -50]
	DstBlock		"Computer"
	DstPort			2
      }
      Branch {
	Points			[0, -65]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Annotation {
      Text		      "TrueTime 1.3  PID-control of a DC servo\nCopyri"
"ght (c) 2005\nMartin Anderssonm, Dan Henriksson and Anton Cervin\nDepartment "
"of Automatic Control, Lund University, Sweden\nPlease direct questions and bu"
"g reports to:  [e-mail] "
      Position		      [241, 261]
    }
  }
}