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}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Kd1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
DstBlock "Unit Delay1"
DstPort 1
}
}
Line {
SrcBlock "Kd1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Unit Delay1"
SrcPort 1
Points [0, -15]
DstBlock "Kd2"
DstPort 1
}
Line {
SrcBlock "Kd2"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
}
}
Block {
BlockType Abs
Name "Abs"
Position [265, 180, 295, 210]
SaturateOnIntegerOverflow on
}
Block {
BlockType Constant
Name "Constant"
Position [135, 205, 165, 235]
Value "L1"
VectorParams1D on
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator"
Ports [1, 1]
Position [110, 77, 150, 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 "Kd"
Position [245, 129, 295, 171]
Gain "Kd"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Ki"
Position [230, 78, 275, 112]
Gain "Ki"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Kp"
Position [225, 21, 270, 59]
Gain "Kp"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [395, 176, 415, 229]
Inputs "2"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [325, 197, 355, 228]
Operator "<="
}
Block {
BlockType Saturate
Name "Saturation\n+-10"
Position [390, 59, 420, 91]
UpperLimit "10"
LowerLimit "-10"
LinearizeAsGain on
}
Block {
BlockType Saturate
Name "Saturation1, L2"
Position [440, 190, 470, 220]
UpperLimit "L2"
LowerLimit "-L2"
LinearizeAsGain on
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [325, 55, 365, 95]
IconShape "round"
Inputs "++-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [440, 59, 470, 91]
SampleTime "Ts"
}
Block {
BlockType SubSystem
Name "difference2"
Ports [1, 1]
Position [75, 131, 125, 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 [490, 68, 520, 82]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "difference2"
SrcPort 1
DstBlock "2-point ave."
DstPort 1
}
Line {
SrcBlock "2-point ave."
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Kd"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Abs"
DstPort 1
}
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -45]
DstBlock "Kp"
DstPort 1
}
Branch {
Points [0, 10]
DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
}
Line {
SrcBlock "Saturation\n+-10"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Saturation\n+-10"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "control"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Kd"
SrcPort 1
Points [45, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Kp"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Discrete-Time\nIntegrator"
SrcPort 1
DstBlock "Ki"
DstPort 1
}
Line {
SrcBlock "p_fbk"
SrcPort 1
DstBlock "difference2"
DstPort 1
}
Line {
SrcBlock "Abs"
SrcPort 1
Points [10, 0]
DstBlock "Relational\nOperator"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [95, 0; 0, 10; 45, 0]
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Ki"
SrcPort 1
Points [20, 0; 0, 95]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Saturation1, L2"
SrcPort 1
Points [5, 0; 0, -60; -170, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Saturation1, L2"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Double click\non this for demo.5"
Ports []
Position [240, 244, 411, 275]
BackgroundColor "green"
ShowName off
OpenFcn "moto_data2"
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 "Kd2"
Position [155, 212, 210, 238]
Gain "2"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Kd4"
Position [150, 272, 205, 298]
Gain "2"
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, 591, 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
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