📄 g_pid_disc.mdl
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IncludeERTFirstTime on
ERTFirstTimeCompliant on
IncludeFileDelimiter "Auto"
ERTCustomFileBanners on
SupportAbsoluteTime off
LogVarNameModifier "rt_"
MatFileLogging off
MultiInstanceERTCode off
SupportNonFinite off
SupportComplex off
PurelyIntegerCode off
SupportContinuousTime off
SupportNonInlinedSFcns off
GenerateErtSFunction off
GenerateASAP2 off
ExtMode off
ExtModeTransport 0
ExtModeStaticAlloc off
ExtModeStaticAllocSize 1000000
ExtModeTesting off
ExtModeMexFile "ext_comm"
InlinedParameterPlacement "NonHierarchical"
TargetOS "BareBoardExample"
MultiInstanceErrorCode "Error"
RateGroupingCode on
RootIOFormat "Individual arguments"
RTWCAPISignals off
RTWCAPIParams off
RTWCAPIStates off
ERTSrcFileBannerTemplate "ert_code_template.cgt"
ERTHdrFileBannerTemplate "ert_code_template.cgt"
ERTDataSrcFileTemplate "ert_code_template.cgt"
ERTDataHdrFileTemplate "ert_code_template.cgt"
ERTCustomFileTemplate "example_file_process.tlc"
InitialValueSource "Model"
ModuleNamingRule "Unspecified"
SignalDisplayLevel 10
ParamTuneLevel 10
GlobalDataDefinition "Auto"
DataDefinitionFile "global.c"
GlobalDataReference "Auto"
DataReferenceFile "global.h"
GRTInterface off
EnableUserReplacementTypes off
Array {
Type "Struct"
Dimension 1
MATStruct {
double ""
single ""
int32 ""
int16 ""
int8 ""
uint32 ""
uint16 ""
uint8 ""
boolean ""
int ""
uint ""
char ""
}
PropName "ReplacementTypes"
}
MemSecPackage "--- None ---"
MemSecDataConstants "Default"
MemSecDataIO "Default"
MemSecDataInternal "Default"
MemSecDataParameters "Default"
MemSecFuncInitTerm "Default"
MemSecFuncExecute "Default"
}
PropName "Components"
}
}
PropName "Components"
}
Name "Configuration"
SimulationMode "normal"
CurrentDlgPage "Real-Time Workshop/Interface"
}
PropName "ConfigurationSets"
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
$ObjectID 1
}
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType DiscreteIntegrator
IntegratorMethod "Integration: Forward Euler"
gainval "1.0"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
InitialConditionMode "State and output"
SampleTime "1"
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow off
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
IgnoreLimit off
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Inport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
LatchByDelayingOutsideSignal off
LatchByCopyingInsideSignal off
Interpolate on
}
Block {
BlockType Outport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType "S-Function"
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
TreatAsAtomicUnit off
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Arial"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "g_pid_disc"
Location [81, 124, 771, 358]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "lightBlue"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Reference
Name "Discrete PID"
Ports [2, 1]
Position [295, 39, 400, 161]
SourceBlock "dc_motor_lib/Controllers/Discrete PID"
SourceType ""
ShowPortLabels on
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
K "0.1"
b "0.7"
Ti "0.01"
Td "1e-5"
N "4"
Tt "0.005"
Umax "12"
Umin "-12"
Ts "Ts"
}
Block {
BlockType Gain
Name "Gain"
Position [165, 139, 210, 171]
Gain "200"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Reference
Name "MM-16-AT "
Ports [0, 1]
Position [15, 42, 120, 98]
SourceBlock "xpcdiamondlib/A//D/MM-16-AT "
SourceType "addiamondmm16at"
firstChan "1"
numChans "1"
range "-5V to 5V"
coupling "16 single-ended channels"
showStatus off
sampleTime "0.0001"
base "0x300"
}
Block {
BlockType Reference
Name "MM-16-AT 1"
Ports [0, 1]
Position [15, 127, 120, 183]
SourceBlock "xpcdiamondlib/A//D/MM-16-AT "
SourceType "addiamondmm16at"
firstChan "2"
numChans "1"
range "-5V to 5V"
coupling "16 single-ended channels"
showStatus off
sampleTime "0.0001"
base "0x301"
}
Block {
BlockType Reference
Name "MM-16-AT 2"
Ports [1]
Position [495, 72, 600, 128]
SourceBlock "xpcdiamondlib/D//A/MM-16-AT "
SourceType "dadiamondmm16at"
channel "[1]"
range "0 to 5V"
reset "[1]"
initValue "[0]"
sampleTime "0.001"
base "0x300"
}
Line {
SrcBlock "MM-16-AT "
SrcPort 1
DstBlock "Discrete PID"
DstPort 1
}
Line {
SrcBlock "Discrete PID"
SrcPort 1
DstBlock "MM-16-AT 2"
DstPort 1
}
Line {
SrcBlock "MM-16-AT 1"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [35, 0; 0, -25]
DstBlock "Discrete PID"
DstPort 2
}
}
}
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