motorola.mdl

来自「书籍代码:遗传演算法原理与应用_活用MATLAB(Source Code)」· MDL 代码 · 共 1,568 行 · 第 1/3 页

	Block {
	  BlockType		  Abs
	  Name			  "Abs"
	  Position		  [300, 180, 330, 210]
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [170, 205, 200, 235]
	  Value			  "L1"
	  VectorParams1D	  on
	}
	Block {
	  BlockType		  DiscreteIntegrator
	  Name			  "Discrete-Time\nIntegrator"
	  Ports			  [1, 1]
	  Position		  [205, 77, 245, 113]
	  BackgroundColor	  "yellow"
	  IntegratorMethod	  "BackwardEuler"
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  SampleTime		  "Ts"
	  RTWStateStorageClass	  "Auto"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [225, 203, 275, 237]
	  BackgroundColor	  "yellow"
	  Gain			  "1000"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain4"
	  Position		  [135, 78, 185, 112]
	  BackgroundColor	  "yellow"
	  Gain			  "1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain7"
	  Position		  [75, 133, 125, 167]
	  BackgroundColor	  "yellow"
	  Gain			  "1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kd4"
	  Position		  [315, 129, 365, 171]
	  Gain			  "Kd"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Ki"
	  Position		  [265, 78, 310, 112]
	  Gain			  "Ki"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kp"
	  Position		  [230, 16, 275, 54]
	  Gain			  "Kp"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kp1"
	  Position		  [420, 56, 460, 94]
	  Gain			  "1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1]
	  Position		  [425, 183, 450, 227]
	  Inputs		  "2"
	  Multiplication	  "Element-wise(.*)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "Relational\nOperator"
	  Position		  [360, 197, 390, 228]
	  Operator		  "<="
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation"
	  Position		  [475, 59, 505, 91]
	  UpperLimit		  "10"
	  LowerLimit		  "-10"
	  LinearizeAsGain	  on
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation1, L2"
	  Position		  [475, 190, 505, 220]
	  UpperLimit		  "L2"
	  LowerLimit		  "-L2"
	  LinearizeAsGain	  on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1]
	  Position		  [360, 55, 400, 95]
	  IconShape		  "round"
	  Inputs		  "++-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "Zero-Order\nHold"
	  Position		  [520, 59, 550, 91]
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "difference2"
	  Ports			  [1, 1]
	  Position		  [140, 131, 190, 169]
	  ShowPortLabels	  on
	  TreatAsAtomicUnit	  off
	  RTWSystemCode		  "Auto"
	  RTWFcnNameOpts	  "Auto"
	  RTWFileNameOpts	  "Auto"
	  System {
	    Name		    "difference2"
	    Location		    [216, 152, 472, 256]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "In1"
	      Position		      [20, 33, 50, 47]
	      Port		      "1"
	      LatchInput	      off
	      Interpolate	      on
	    }
	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "Discrete\nTransfer Fcn"
	      Position		      [85, 22, 145, 58]
	      Numerator		      "[1 -1]"
	      Denominator	      "[Ts Ts]"
	      SampleTime	      "Ts"
	      Realization	      "auto"
	      RTWStateStorageClass    "Auto"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Out1"
	      Position		      [195, 33, 225, 47]
	      Port		      "1"
	      OutputWhenDisabled      "held"
	      InitialOutput	      "[]"
	    }
	    Line {
	      SrcBlock		      "In1"
	      SrcPort		      1
	      DstBlock		      "Discrete\nTransfer Fcn"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Discrete\nTransfer Fcn"
	      SrcPort		      1
	      DstBlock		      "Out1"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "control"
	  Position		  [565, 68, 595, 82]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Gain4"
	  SrcPort		  1
	  DstBlock		  "Discrete-Time\nIntegrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "difference2"
	  SrcPort		  1
	  DstBlock		  "2-point ave."
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "2-point ave."
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Kd4"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Abs"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain7"
	  SrcPort		  1
	  DstBlock		  "difference2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  Points		  [55, 0]
	  Branch {
	    Points		    [0, 10]
	    DstBlock		    "Gain4"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "Kp"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  DstBlock		  "Zero-Order\nHold"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Kp1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Kp1"
	  SrcPort		  1
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Zero-Order\nHold"
	  SrcPort		  1
	  DstBlock		  "control"
	  DstPort		  1
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "Kd4"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "Sum1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Kp"
	  SrcPort		  1
	  Points		  [100, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator"
	  SrcPort		  1
	  DstBlock		  "Ki"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "p_fbk"
	  SrcPort		  1
	  DstBlock		  "Gain7"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Abs"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "Relational\nOperator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Relational\nOperator"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Ki"
	  SrcPort		  1
	  Points		  [50, 0; 0, 35; 45, 0]
	  DstBlock		  "Product"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Saturation1, L2"
	  SrcPort		  1
	  Points		  [5, 0; 0, -90; -170, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  DstBlock		  "Saturation1, L2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [20, 0; 0, 10; 45, 0]
	  DstBlock		  "Relational\nOperator"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Double click\non this for demo.5"
      Ports		      []
      Position		      [145, 339, 316, 370]
      BackgroundColor	      "green"
      ShowName		      off
      OpenFcn		      "moto_data1"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDisplay	      "disp('Load initial data before simulation\\nDou"
"ble clicks on this ICON')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Double click\non this for demo.5"
	Location		[44, 351, 171, 504]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Kd1"
      Position		      [175, 212, 205, 238]
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "Kd2"
      Position		      [155, 237, 210, 263]
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "Kd3"
      Position		      [275, 22, 315, 48]
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "Kd4"
      Position		      [155, 297, 210, 323]
      Gain		      "2"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "Kd5"
      Position		      [300, 212, 330, 238]
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "Kd6"
      Position		      [255, 242, 325, 278]
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "MATLAB Fcn"
      Position		      [425, 120, 485, 150]
      MATLABFcn		      "round"
      OutputDimensions	      "-1"
      OutputSignalType	      "auto"
      Output1D		      on
    }
    Block {
      BlockType		      SubSystem
      Name		      "Motor Subsystem"
      Ports		      [1, 2]
      Position		      [290, 125, 350, 165]
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      System {
	Name			"Motor Subsystem"
	Location		[93, 171, 609, 309]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [25, 38, 55, 52]
	  Port			  "1"
	  LatchInput		  off
	  Interpolate		  on
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [305, 31, 330, 59]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kd1"
	  Position		  [155, 32, 210, 58]
	  Gain			  "K1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Kd4"
	  Position		  [350, 32, 405, 58]
	  Gain			  "K2"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn\nof Motor plant"
	  Position		  [230, 28, 290, 62]
	  Numerator		  "[K]"
	  Denominator		  "[1 a1 a2]"
	  AbsoluteTolerance	  "auto"
	  Realization		  "auto"
	}
	Block {
	  BlockType		  TransportDelay
	  Name			  "Transport\nDelay"
	  Position		  [85, 30, 115, 60]
	  DelayTime		  "Tc"
	  InitialInput		  "0"
	  BufferSize		  "1024"
	  PadeOrder		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"