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📄 sh_closed_loop_actuator.mdl

📁 Physics-Based Modeling Methods Improve Control System Design Multidomain systems (mechanical, electr
💻 MDL
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      Tag		      "STV Subsys"
      Ports		      [0, 1]
      Position		      [15, 313, 80, 347]
      CopyFcn		      "sigbuilder_block('copy');"
      DeleteFcn		      "sigbuilder_block('delete');"
      LoadFcn		      "sigbuilder_block('load');"
      ModelCloseFcn	      "sigbuilder_block('modelClose');"
      PreSaveFcn	      "sigbuilder_block('preSave');"
      StartFcn		      "sigbuilder_block('start');"
      StopFcn		      "sigbuilder_block('stop');"
      NameChangeFcn	      "sigbuilder_block('namechange');"
      ClipboardFcn	      "sigbuilder_block('clipboard');"
      OpenFcn		      "sigbuilder_block('open',[57 166.5 507.75 324.75"
" ]);"
      CloseFcn		      "sigbuilder_block('close');"
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      MaskType		      "Sigbuilder block"
      MaskDescription	      "Sigbuilder GUI"
      MaskInitialization      "if ~strcmp(get_param(bdroot(gcbh),'SimulationSt"
"atus'),'stopped') tuvar = sigbuilder_block('maskInit'); end"
      MaskDisplay	      "plot(0,0,100,100,[10,10,40,40,10],[80,20,20,80,"
"80],[40,10],[50,50], [40,27,10],[65,72,56],[40,25,25,10],[28,28,43,43]);"
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      MaskIconRotate	      "port"
      MaskIconUnits	      "autoscale"
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	Name			"Control Unit"
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	Block {
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	}
	Block {
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	  Tag			  "STV FromWs"
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	  SampleTime		  "0"
	  ZeroCross		  on
	  SigBuilderData	  "DataTag0"
	  VnvData		  "DataTag1"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Signal 1"
	  Tag			  "STV Outport"
	  Position		  [280, 30, 300, 40]
	  IconDisplay		  "Port number"
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	Line {
	  SrcBlock		  "Demux"
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	  Points		  [50, 0; 0, -280]
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	Line {
	  SrcBlock		  "FromWs"
	  SrcPort		  1
	  Points		  [5, 0; 0, -10]
	  DstBlock		  "Demux"
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      }
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    Block {
      BlockType		      Reference
      Name		      "Double-Acting\nHydraulic Cylinder"
      Tag		      "Factory Generic"
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      Position		      [360, 90, 440, 130]
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      SourceBlock	      "sh_lib/Hydraulic Cylinders/Double-Acting\nHydra"
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      ShowPortLabels	      on
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
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      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      ClassName		      "cylinder_da"
      SchemaVersion	      "1"
      area_A		      "0.004"
      area_A_unit	      "m^2"
      area_B		      "0.002"
      area_B_unit	      "m^2"
      stroke		      "0.2"
      stroke_unit	      "m"
      init_pos		      "0.01"
      init_pos_unit	      "m"
      dead_vol_A	      "0.001"
      dead_vol_A_unit	      "m^3"
      dead_vol_B	      "0.001"
      dead_vol_B_unit	      "m^3"
      k_sh		      "1.4"
      k_sh_unit		      "1"
      stiff		      "1e+06"
      stiff_unit	      "N/m"
      D			      "150"
      D_unit		      "s*N/m"
      or		      "1"
      or_unit		      "1"
      LocalVarLogging	      "[]"
    }
    Block {
      BlockType		      Scope
      Name		      "Error"
      Ports		      [1]
      Position		      [185, 104, 215, 136]
      Floating		      off
      Location		      [7, 546, 338, 734]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "-0.01"
      YMax		      "0.02"
      DataFormat	      "StructureWithTime"
      MaxDataPoints	      "500000"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "FS"
      Tag		      "Factory Generic"
      Ports		      [0, 0, 0, 0, 0, 1, 2]
      Position		      [475, 80, 515, 120]
      DialogController	      "NetworkEngine.DynNeDlgSource"
      SourceBlock	      "fl_lib/Mechanical/Mechanical Sensors\nand Sourc"
"es/Ideal Force Sensor"
      SourceType	      "Ideal Force Sensor"
      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"
      ClassName		      "sensor_force"
      SchemaVersion	      "1"
      LocalVarLogging	      "[]"
    }
    Block {
      BlockType		      Scope
      Name		      "Force"
      Ports		      [1]
      Position		      [595, 199, 625, 231]
      Floating		      off
      Location		      [687, 545, 1023, 734]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "10"
      YMin		      "0"
      YMax		      "10000"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
      MaxDataPoints	      "500000"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "IFS"
      Tag		      "Factory Generic"
      Ports		      [0, 0, 0, 0, 0, 1, 2]
      Position		      [755, 115, 795, 155]
      Orientation	      "up"
      DialogController	      "NetworkEngine.DynNeDlgSource"
      SourceBlock	      "fl_lib/Mechanical/Mechanical Sensors\nand Sourc"
"es/Ideal Force Source"
      SourceType	      "Ideal Force Source"
      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"
      ClassName		      "source_force"
      SchemaVersion	      "1"
      force_Log		      "off"
      rel_velocity_Log	      "off"
      power_Log		      "off"
      LocalVarNames	      "|force|rel_velocity|power"
      LocalVarDescs	      "|Force (N)|Relative velocity (m/s)|Power genera"
"ted by the source (W)"
      LocalVarLogging	      "[0 0 0]"
    }
    Block {
      BlockType		      Reference
      Name		      "M"
      Tag		      "Factory Generic"
      Ports		      [0, 0, 0, 0, 0, 1]
      Position		      [580, 120, 620, 160]
      Orientation	      "down"
      DialogController	      "NetworkEngine.DynNeDlgSource"
      SourceBlock	      "fl_lib/Mechanical/Translational\nElements/Mass"
      SourceType	      "Mass"
      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"
      ClassName		      "mass"
      SchemaVersion	      "1"
      mass		      "50"
      mass_unit		      "kg"
      force_Log		      "off"
      velocity_Log	      "off"
      LocalVarNames	      "|force|velocity"
      LocalVarDescs	      "|Inertia force (N)|Mass absolute velocity (m/s)"
      LocalVarLogging	      "[0 0]"
    }
    Block {
      BlockType		      Reference
      Name		      "MTR1"
      Tag		      "Factory Generic"
      Ports		      [0, 0, 0, 0, 0, 1]
      Position		      [695, 200, 715, 220]
      Orientation	      "down"
      DialogController	      "NetworkEngine.DynNeDlgSource"
      SourceBlock	      "fl_lib/Mechanical/Translational\nElements/Mecha"
"nical\nTranslational\nReference"
      SourceType	      "Mechanical\nTranslational\nReference"
      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"
      ClassName		      "reference_transl"
      SchemaVersion	      "1"
      LocalVarLogging	      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "MTR_1"
      Tag		      "Factory Generic"
      Ports		      [0, 0, 0, 0, 0, 1]
      Position		      [270, 90, 290, 110]
      Orientation	      "left"
      DialogController	      "NetworkEngine.DynNeDlgSource"
      SourceBlock	      "fl_lib/Mechanical/Translational\nElements/Mecha"
"nical\nTranslational\nReference"
      SourceType	      "Mechanical\nTranslational\nReference"
      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"
      ClassName		      "reference_transl"
      SchemaVersion	      "1"
      LocalVarLogging	      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "MTR_2"
      Tag		      "Factory Generic"
      Ports		      [0, 0, 0, 0, 0, 1]
      Position		      [900, 80, 920, 100]
      DialogController	      "NetworkEngine.DynNeDlgSource"
      SourceBlock	      "fl_lib/Mechanical/Translational\nElements/Mecha"
"nical\nTranslational\nReference"
      SourceType	      "Mechanical\nTranslational\nReference"
      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"
      ClassName		      "reference_transl"
      SchemaVersion	      "1"
      LocalVarLogging	      "[]"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Motion Sensor"
      Ports		      [0, 1, 0, 0, 0, 1]
      Position		      [675, 23, 735, 47]
      Orientation	      "left"
      NamePlacement	      "alternate"
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      System {
	Name			"Motion Sensor"
	Location		[424, 504, 739, 611]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Reference
	  Name			  "Ideal Translational\nMotion Sensor"
	  Tag			  "Factory Generic"
	  Ports			  [0, 0, 0, 0, 0, 1, 3]
	  Position		  [80, 30, 120, 70]
	  DialogController	  "NetworkEngine.DynNeDlgSource"
	  SourceBlock		  "fl_lib/Mechanical/Mechanical Sensors\nand S"
"ources/Ideal Translational\nMotion Sensor"
	  SourceType		  "Ideal Translational\nMotion Sensor"
	  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"
	  ClassName		  "sensor_transl_motion"
	  SchemaVersion		  "1"
	  offset		  "0"
	  offset_unit		  "m"
	  LocalVarLogging	  "[]"
	}
	Block {
	  BlockType		  Reference
	  Name			  "MTR_3"
	  Tag			  "Factory Generic"
	  Ports			  [0, 0, 0, 0, 0, 1]
	  Position		  [145, 25, 165, 45]
	  NamePlacement		  "alternate"
	  DialogController	  "NetworkEngine.DynNeDlgSource"
	  SourceBlock		  "fl_lib/Mechanical/Translational\nElements/M"
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	  SourceType		  "Mechanical\nTranslational\nReference"
	  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"
	  ClassName		  "reference_transl"
	  SchemaVersion		  "1"
	  LocalVarLogging	  "[]"
	}
	Block {
	  BlockType		  Reference
	  Name			  "PS2S_1"
	  Ports			  [0, 1, 0, 0, 0, 1]
	  Position		  [185, 50, 215, 80]
	  DialogController	  "NetworkEngine.DynNeUtilDlgSource"
	  SourceBlock		  "pm_libv1/Utilities/PS-Simulink\nConverter"
	  SourceType		  "PS-Simulink\nConverter"
	  ShowPortLabels	  off
	  SystemSampleTime	  "-1"
	  FunctionWithSeparateData off
	  RTWMemSecFuncInitTerm	  "Inherit from model"
	  RTWMemSecFuncExecute	  "Inherit from model"
	  RTWMemSecDataConstants  "Inherit from model"
	  RTWMemSecDataInternal	  "Inherit from model"
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