📄 h_pid_disc.mdl
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ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "Ts"
}
Block {
BlockType Gain
Name "Kdd"
Position [435, 352, 540, 388]
Orientation "left"
Gain "Td/(Td+N*Ts)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "Ts"
}
Block {
BlockType Gain
Name "Ki"
Position [175, 50, 230, 80]
Gain "1/Ti"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "Ts"
}
Block {
BlockType Gain
Name "P"
Position [165, 115, 195, 145]
Gain "b"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "Ts"
}
Block {
BlockType Gain
Name "P2"
Position [280, 115, 310, 145]
Gain "K"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "Ts"
Port {
PortNumber 1
Name "P(k)"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Saturate
Name "Saturation"
Position [655, 115, 685, 145]
UpperLimit "Umax"
LowerLimit "Umin"
SampleTime "Ts"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [75, 150, 95, 170]
ShowName off
IconShape "round"
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "error"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [225, 120, 245, 140]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [215, 295, 235, 315]
ShowName off
IconShape "round"
Inputs "-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum4"
Ports [3, 1]
Position [450, 120, 470, 140]
ShowName off
IconShape "round"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [420, 295, 440, 315]
ShowName off
IconShape "round"
Inputs "|-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "D(k)"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1]
Position [610, 30, 630, 50]
Orientation "left"
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum8"
Ports [2, 1]
Position [265, 55, 285, 75]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [135, 253, 170, 287]
SampleTime "Ts"
Port {
PortNumber 1
Name "y(k-1)"
PropagatedSignals "y(k)"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [485, 288, 520, 322]
SampleTime "Ts"
Port {
PortNumber 1
Name "D(k-1)"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Outport
Name "Out1"
Position [725, 123, 755, 137]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Sum8"
SrcPort 1
DstBlock "Discrete-Time\nIntegrator1"
DstPort 1
}
Line {
SrcBlock "Ki"
SrcPort 1
DstBlock "Sum8"
DstPort 2
}
Line {
SrcBlock "Anti-Windup Feedback"
SrcPort 1
DstBlock "Sum8"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Anti-Windup Feedback"
DstPort 1
}
Line {
Name "I(k)"
Labels [-1, 0]
SrcBlock "Discrete-Time\nIntegrator1"
SrcPort 1
Points [110, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, -90]
DstBlock "Sum6"
DstPort 1
}
Branch {
DstBlock "Out1"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 0; 145, 0]
Branch {
DstBlock "Sum6"
DstPort 2
}
Branch {
DstBlock "Saturation"
DstPort 1
}
}
Line {
Name "P(k)"
Labels [-1, 1]
SrcBlock "P2"
SrcPort 1
Points [0, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "uc"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
DstBlock "Sum1"
DstPort 1
}
Branch {
DstBlock "P"
DstPort 1
}
}
Line {
SrcBlock "P"
SrcPort 1
Points [10, 0; 0, -5]
DstBlock "Sum2"
DstPort 1
}
Line {
Name "y(k)"
Labels [0, 0]
SrcBlock "y"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [150, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 80]
Branch {
Labels [1, 0]
DstBlock "Unit Delay"
DstPort 1
}
Branch {
Points [0, 65; 140, 0]
DstBlock "Sum3"
DstPort 2
}
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "P2"
DstPort 1
}
Line {
Name "error"
Labels [2, 0]
SrcBlock "Sum1"
SrcPort 1
Points [10, 0; 0, -95]
DstBlock "Ki"
DstPort 1
}
Line {
Name "y(k-1)"
Labels [0, 0]
SrcBlock "Unit Delay"
SrcPort 1
Points [50, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Kd"
DstPort 1
}
Line {
Name "D(k)"
SrcBlock "Sum5"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Unit Delay1"
DstPort 1
}
Branch {
Labels [-1, 1]
DstBlock "Sum4"
DstPort 3
}
}
Line {
Name "D(k-1)"
Labels [0, 0]
SrcBlock "Unit Delay1"
SrcPort 1
Points [50, 0; 0, 65]
DstBlock "Kdd"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
Points [10, 0; 0, -5]
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Kdd"
SrcPort 1
DstBlock "Sum5"
DstPort 2
}
Annotation {
Name "Derivative approximation"
Position [283, 364]
UseDisplayTextAsClickCallback off
}
}
}
Block {
BlockType Outport
Name "U"
Position [390, 53, 420, 67]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "10bit"
SrcPort 1
Points [60, 0; 0, -20]
DstBlock "Discrete PID"
DstPort 2
}
Line {
SrcBlock "A/D"
SrcPort 1
DstBlock "Discrete PID"
DstPort 1
}
Line {
SrcBlock "y"
SrcPort 1
DstBlock "10bit"
DstPort 1
}
Line {
SrcBlock "Uref"
SrcPort 1
Points [0, 0]
DstBlock "A/D"
DstPort 1
}
Line {
SrcBlock "Discrete PID"
SrcPort 1
Points [0, 0]
DstBlock "U"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Mechanics"
Ports [1, 2]
Position [545, 47, 660, 163]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
Port {
PortNumber 2
Name "dth_m_tacho"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "Mechanics"
Location [286, 462, 916, 887]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [25, 33, 55, 47]
IconDisplay "Port number"
}
Block {
BlockType Reference
Name "DC-Tacho"
Ports [2, 1]
Position [430, 25, 510, 85]
BackgroundColor "lightBlue"
DropShadow on
SourceBlock "dc_motor_lib/DC-Tacho"
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"
dth_gain "0.005"
th_gain "pi*0.0229"
rel_dth_gain "1/486.25"
}
Block {
BlockType SubSystem
Name "Load"
Ports [2, 3]
Position [160, 223, 240, 297]
Orientation "left"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
Port {
PortNumber 2
Name "dth_l"
PropagatedSignals "dth_l"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 3
Name "th_l"
PropagatedSignals "th_l"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "Load"
Location [270, 486, 821, 824]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "dth_m"
Position [260, 25, 290, 40]
Orientation "down"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "th_m"
Position [350, 105, 380, 120]
Orientation "down"
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1]
Position [210, 165, 240, 195]
IgnoreLimit off
Port {
PortNumber 1
Name "dth_l"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator4"
Ports [1, 1]
Position [300, 165, 330, 195]
IgnoreLimit off
Port {
PortNumber 1
Name "th_l"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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