b_ss_controller.mdl

来自「这是一个电机PID控制的程序」· MDL 代码 · 共 1,849 行 · 第 1/4 页

	      Branch {
		DstBlock		"th_l"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Sum4"
		DstPort			2
	      }
	    }
	    Line {
	      Name		      "dth_l"
	      Labels		      [0, 0]
	      SrcBlock		      "Integrator3"
	      SrcPort		      1
	      Points		      [0, 0; 30, 0]
	      Branch {
		Points			[0, 70]
		Branch {
		  DstBlock		  "dth_l"
		  DstPort		  1
		}
		Branch {
		  DstBlock		  "Load\ndamping"
		  DstPort		  1
		}
	      }
	      Branch {
		DstBlock		"Sum2"
		DstPort			2
	      }
	      Branch {
		DstBlock		"Integrator4"
		DstPort			1
	      }
	    }
	  }
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [4, 1]
	  Position		  [390, 327, 395, 483]
	  ShowName		  off
	  DisplayOption		  "bar"
	  Port {
	    PortNumber		    1
	    PropagatedSignals	    "dth_m, th_m, dth_l, th_l"
	    ShowPropagatedSignals   "on"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator"
	  Position		  [300, 55, 320, 75]
	  ShowName		  off
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator1"
	  Position		  [325, 70, 345, 90]
	  ShowName		  off
	}
	Block {
	  BlockType		  Terminator
	  Name			  "Terminator2"
	  Position		  [235, 115, 255, 135]
	  ShowName		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "dc_motor_detailed3"
	  Ports			  [2, 7]
	  Position		  [80, 30, 205, 130]
	  BackgroundColor	  "lightBlue"
	  DropShadow		  on
	  SourceBlock		  "dc_motor_lib/dc_motor_detailed"
	  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"
	  Rm			  "Rm"
	  Lm			  "Lm"
	  Kb			  "Kb"
	  Kt			  "Kt"
	  Jm			  "Jm"
	  bm			  "bm"
	  Ktemp			  "14"
	  ttemp			  "910"
	  amb_temp		  "22"
	  Port {
	    PortNumber		    1
	    Name		    "current"
	    PropagatedSignals	    "Current"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	  Port {
	    PortNumber		    5
	    Name		    "dth_m"
	    PropagatedSignals	    "dth_m"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	  Port {
	    PortNumber		    6
	    Name		    "th_m"
	    PropagatedSignals	    "th_m"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "states_X"
	  Position		  [560, 398, 590, 412]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "encoder"
	  Position		  [525, 238, 555, 252]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "Current"
	  Position		  [490, 28, 520, 42]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "back_emf"
	  Position		  [490, 63, 520, 77]
	  Port			  "4"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  Name			  "dth_m"
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  5
	  Points		  [65, 0]
	  Branch {
	    Labels		    [1, 1]
	    Points		    [0, 225]
	    DstBlock		    "Load"
	    DstPort		    1
	  }
	  Branch {
	    Labels		    [3, 0]
	    Points		    [65, 0; 0, 250]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "th_m"
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  6
	  Points		  [105, 0; 0, 135]
	  Branch {
	    Points		    [0, 110]
	    Branch {
	      Labels		      [1, 1]
	      DstBlock		      "Load"
	      DstPort		      2
	    }
	    Branch {
	      Labels		      [2, 1]
	      Points		      [0, 30]
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	  }
	  Branch {
	    DstBlock		    "encoder"
	    DstPort		    1
	  }
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [0, 0]
	  DstBlock		  "states_X"
	  DstPort		  1
	}
	Line {
	  Name			  "dth_l"
	  Labels		  [-1, 1]
	  SrcBlock		  "Load"
	  SrcPort		  2
	  Points		  [-25, 0; 0, 90]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Load"
	  SrcPort		  1
	  Points		  [-100, 0; 0, -205]
	  DstBlock		  "dc_motor_detailed3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  3
	  DstBlock		  "Terminator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  4
	  DstBlock		  "Terminator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  7
	  DstBlock		  "Terminator2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Vin"
	  SrcPort		  1
	  DstBlock		  "dc_motor_detailed3"
	  DstPort		  1
	}
	Line {
	  Name			  "current"
	  Labels		  [-1, 0]
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  1
	  DstBlock		  "Current"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "dc_motor_detailed3"
	  SrcPort		  2
	  Points		  [145, 0; 0, 20]
	  DstBlock		  "back_emf"
	  DstPort		  1
	}
	Line {
	  Name			  "th_l"
	  Labels		  [-1, 1]
	  SrcBlock		  "Load"
	  SrcPort		  3
	  Points		  [-5, 0; 0, 105]
	  DstBlock		  "Mux"
	  DstPort		  4
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1]
      Position		      [680, 184, 710, 216]
      Floating		      off
      Location		      [388, 741, 712, 980]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "-150"
      YMax		      "175"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope10"
      Ports		      [1]
      Position		      [465, 19, 495, 51]
      Floating		      off
      Location		      [35, 579, 359, 818]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "-20"
      YMax		      "12.5"
      SaveName		      "ScopeData9"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1]
      Position		      [680, 84, 710, 116]
      Floating		      off
      Location		      [388, 741, 712, 980]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMax		      "15"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope8"
      Ports		      [1]
      Position		      [725, 154, 755, 186]
      Floating		      off
      Location		      [330, 284, 654, 523]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "6.5e-011"
      YMax		      "7.05e-011"
      SaveName		      "ScopeData7"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [30, 15, 60, 45]
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold"
      Position		      [80, 86, 100, 104]
      ShowName		      off
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold1"
      Position		      [80, 115, 100, 135]
      ShowName		      off
      SampleTime	      "Ts"
    }
    Line {
      SrcBlock		      "Mechanics"
      SrcPort		      4
      Points		      [10, 0; 0, 45; -255, 0; 0, -50]
      DstBlock		      "Amplifier"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Mechanics"
      SrcPort		      3
      Points		      [20, 0; 0, 85; -280, 0; 0, -95]
      DstBlock		      "Amplifier"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Amplifier"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Mechanics"
	DstPort			1
      }
      Branch {
	Points			[0, -90]
	DstBlock		"Scope10"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Controller"
      SrcPort		      1
      DstBlock		      "Amplifier"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      4
      DstBlock		      "Scope1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mechanics"
      SrcPort		      1
      Points		      [55, 0; 0, 15]
      Branch {
	Points			[0, 85]
	Branch {
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Branch {
	  Labels		  [0, 0]
	  Points		  [0, 60; -570, 0; 0, -150]
	  DstBlock		  "Zero-Order\nHold"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"Scope2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      DstBlock		      "Scope8"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mechanics"
      SrcPort		      2
      Points		      [35, 0; 0, 120; -535, 0; 0, -105]
      DstBlock		      "Zero-Order\nHold1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Zero-Order\nHold"
      SrcPort		      1
      DstBlock		      "Controller"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Zero-Order\nHold1"
      SrcPort		      1
      DstBlock		      "Controller"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [40, 0; 0, 35]
      DstBlock		      "Controller"
      DstPort		      1
    }
  }
}