📄 motor_plant.mdl
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Model {
Name "Motor_plant"
Version 4.00
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines on
ShowLineDimensions off
ShowPortDataTypes off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovNameIncrementing off
CovHtmlReporting on
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Fri Apr 13 17:53:41 2001"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Sat Aug 04 16:05:29 2001"
ModelVersionFormat "1.%<AutoIncrement:62>"
ConfigurationManager "none"
SimParamPage "Solver"
StartTime "0.0"
StopTime "0.5"
SolverMode "Auto"
Solver "ode4"
RelTol "1e-3"
AbsTol "auto"
Refine "1"
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "0.01"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
LimitDataPoints on
MaxDataPoints "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
SingleTaskRateTransMsg "none"
MultiTaskRateTransMsg "error"
IntegerOverflowMsg "warning"
CheckForMatrixSingularity "none"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
LinearizationMsg "none"
VectorMatrixConversionMsg "none"
SfunCompatibilityCheckMsg "none"
BlockPriorityViolationMsg "warning"
ArrayBoundsChecking "none"
ConsistencyChecking "none"
ZeroCross on
Profile off
SimulationMode "normal"
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
TLCProfiler off
TLCDebug off
TLCCoverage off
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
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 on
ExtModeLogAll on
OptimizeBlockIOStorage on
BufferReuse on
ParameterPooling on
BlockReductionOpt off
BooleanDataType 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 "Motor_plant"
Location [331, 74, 781, 277]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom off
ReportName "simulink-default.rpt"
Block {
BlockType Clock
Name "Clock"
Position [235, 130, 255, 150]
DisplayTime off
Decimation "10"
}
Block {
BlockType Gain
Name "Gain2"
Position [70, 84, 125, 116]
Gain "0"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "Motor speed\nSubsystem"
Ports [2, 1]
Position [145, 28, 205, 77]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "Motor speed\nSubsystem"
Location [277, 137, 763, 297]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "u"
Position [20, 43, 50, 57]
Port "1"
Interpolate on
}
Block {
BlockType Inport
Name "disturbance"
Position [20, 93, 50, 107]
Port "2"
Interpolate on
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [220, 32, 340, 68]
A "A"
B "B"
C "C"
D "D"
X0 "x0"
SampleTime "Ts"
Realization "auto"
}
Block {
BlockType Saturate
Name "Saturation"
Position [150, 35, 180, 65]
UpperLimit "12"
LowerLimit "-12"
LinearizeAsGain on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [375, 40, 395, 60]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [75, 31, 110, 69]
SampleTime "Ts"
}
Block {
BlockType Outport
Name "v"
Position [415, 43, 445, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Discrete State-Space"
DstPort 1
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "v"
DstPort 1
}
Line {
SrcBlock "disturbance"
SrcPort 1
Points [330, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
}
}
Block {
BlockType RandomNumber
Name "Random\nNumber"
Position [15, 85, 45, 115]
Mean "0"
Variance "1"
Seed "0"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [375, 39, 405, 71]
Floating off
Location [8, 62, 237, 234]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "0.8"
YMin "0"
YMax "0.2"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [15, 25, 45, 55]
Time "0"
Before "0"
After "1"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [345, 75, 365, 95]
VariableName "yds"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [370, 125, 395, 155]
VariableName "td"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [225, 36, 260, 74]
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [290, 121, 325, 159]
SampleTime "Ts"
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Motor speed\nSubsystem"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Motor speed\nSubsystem"
DstPort 2
}
Line {
SrcBlock "Motor speed\nSubsystem"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Random\nNumber"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
Points [60, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 30]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "To Workspace2"
DstPort 1
}
Annotation {
Position [103, 169]
Text "Motor_plant.mdl\nPenChen Chou, Aug. 4, 2001\nEx"
"ecute ex631conv before simulation.\n"
}
}
}
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