motor_lc.mdl

书籍代码:遗传演算法原理与应用_活用MATLAB(Source Code)

	  Interpolate		  on
	}
	Block {
	  BlockType		  DiscreteIntegrator
	  Name			  "Discrete-Time\nIntegrator"
	  Ports			  [1, 1]
	  Position		  [195, 70, 230, 110]
	  IntegratorMethod	  "ForwardEuler"
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kd"
	  Position		  [95, 124, 160, 156]
	  Gain			  "3.2110"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Ki"
	  Position		  [95, 73, 175, 107]
	  Gain			  "745.7705"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kp"
	  Position		  [95, 23, 190, 57]
	  Gain			  "16.9382"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [295, 50, 315, 70]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|+++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [235, 145, 255, 165]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Unit Delay"
	  Position		  [185, 160, 220, 200]
	  X0			  "0"
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [355, 53, 385, 67]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "e"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    DstBlock		    "Kp"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    Branch {
	      Points		      [0, 50]
	      DstBlock		      "Kd"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Ki"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Kd"
	  SrcPort		  1
	  Points		  [0, 15]
	  Branch {
	    DstBlock		    "Sum1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 25]
	    DstBlock		    "Unit Delay"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  Points		  [45, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Ki"
	  SrcPort		  1
	  DstBlock		  "Discrete-Time\nIntegrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator"
	  SrcPort		  1
	  Points		  [49, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Kp"
	  SrcPort		  1
	  Points		  [89, 0]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Unit Delay"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      RandomNumber
      Name		      "Random\nNumber"
      Position		      [20, 110, 50, 140]
      Mean		      "0"
      Variance		      "1"
      Seed		      "0"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [500, 35, 530, 65]
      Floating		      off
      Location		      [8, 65, 237, 237]
      Open		      on
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "0.8"
      YMin		      "0"
      YMax		      "8"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "50000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [15, 25, 40, 55]
      Time		      "0"
      Before		      "0"
      After		      "4"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [150, 30, 170, 50]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace\nRPM"
      Position		      [470, 85, 490, 105]
      VariableName	      "y"
      MaxDataPoints	      "inf"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [255, 140, 280, 170]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold"
      Position		      [190, 136, 225, 174]
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      Outport
      Name		      "NCD Outport"
      Position		      [415, 150, 470, 210]
      DropShadow	      on
      OpenFcn		      "optblock"
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "0"
      MaskType		      "NCD Outport"
      MaskDisplay	      "plot([0:10],[-.5 1.5 .6 1.3 .8 1.1 .95 1.02 .99"
" 1 1]);\ndisp('\\n\\n NCD\\n OutPort 1');                         "
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Zero-Order\nHold"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "PID Subsystem"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [145, 0; 0, -65]
      DstBlock		      "Motor speed\nSubsystem"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Motor speed\nSubsystem"
      SrcPort		      1
      Points		      [5, 0; 0, 10]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[0, 45; -75, 0]
	Branch {
	  Points		  [-145, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Gain5"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "PID Subsystem"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Motor speed\nSubsystem"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Random\nNumber"
      SrcPort		      1
      DstBlock		      "Gain2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Zero-Order\nHold"
      SrcPort		      1
      DstBlock		      "To Workspace2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, -25; 250, 0]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Gain3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain3"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 20; -30, 0]
	DstBlock		"To Workspace\nRPM"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      DstBlock		      "NCD Outport"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain5"
      SrcPort		      1
      Points		      [0, 30; -75, 0; 0, 25]
      DstBlock		      "Gain4"
      DstPort		      1
    }
    Annotation {
      Position		      [123, 224]
      Text		      "Motor_LC.mdl\nPenChen Chou, Aug. 4, 2001\nUse o"
"f NCD blockset to find \n[Kp Ki Kd] values for the Linear Controller"
    }
  }
}