📄 h_pid_disc.mdl
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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 Product
Inputs "2"
Multiplication "Element-wise(.*)"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Quantizer
QuantizationInterval "0.5"
LinearizeAsGain on
SampleTime "-1"
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType Scope
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "-1"
}
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 TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Trigonometry
Operator "sin"
OutputSignalType "auto"
SampleTime "-1"
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
Block {
BlockType ZeroOrderHold
SampleTime "1"
}
}
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 "h_pid_disc"
Location [79, 269, 929, 522]
Open on
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"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Amplifier"
Ports [1, 1]
Position [420, 74, 470, 136]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Amplifier"
Location [837, 274, 1210, 453]
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 "control"
Position [25, 33, 55, 47]
IconDisplay "Port number"
}
Block {
BlockType Saturate
Name "Saturation2"
Position [205, 25, 230, 55]
UpperLimit "12"
LowerLimit "-12"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [90, 22, 170, 58]
Numerator "[5000*2*pi]"
Denominator "[1 5000*2*pi]"
}
Block {
BlockType Outport
Name "u"
Position [265, 33, 295, 47]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "control"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Saturation2"
SrcPort 1
DstBlock "u"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Saturation2"
DstPort 1
}
}
}
Block {
BlockType Constant
Name "Constant1"
Position [30, 125, 60, 155]
Value "48"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "Ts"
FramePeriod "inf"
Port {
PortNumber 1
Name "Vin"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType SubSystem
Name "Control Unit"
Ports [2, 1]
Position [275, 49, 370, 156]
BackgroundColor "lightBlue"
DropShadow on
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskDisplay "disp('Fixed Point\\nProcessor')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Control Unit"
Location [482, 121, 951, 256]
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 "Uref"
Position [15, 38, 45, 52]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "y"
Position [15, 88, 45, 102]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "10bit"
Ports [1, 1]
Position [90, 78, 125, 112]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskDisplay "disp('A/D')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "10bit"
Location [240, 478, 693, 636]
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 [415, 33, 445, 47]
Orientation "left"
IconDisplay "Port number"
}
Block {
BlockType Gain
Name "Gain"
Position [245, 24, 290, 56]
Orientation "left"
Gain "200"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Quantizer
Name "Quantizer"
Position [180, 25, 210, 55]
Orientation "left"
QuantizationInterval "1"
SampleTime "Ts"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [105, 25, 135, 55]
Orientation "left"
UpperLimit "512"
LowerLimit "-512"
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [345, 25, 380, 55]
Orientation "left"
SampleTime "Ts"
}
Block {
BlockType Outport
Name "Out1"
Position [25, 33, 55, 47]
Orientation "left"
IconDisplay "Port number"
BusOutputAsStruct off
DataType "Specify via dialog"
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [0, 0]
DstBlock "Quantizer"
DstPort 1
}
Line {
SrcBlock "Saturation1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Quantizer"
SrcPort 1
Points [0, 0]
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "A/D"
Ports [1, 1]
Position [90, 29, 120, 61]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskDisplay "disp('A/D')\n"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "A/D"
Location [492, 122, 710, 239]
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 ZeroOrderHold
Name "Zero-Order\nHold"
Position [85, 25, 120, 55]
SampleTime "Ts"
}
Block {
BlockType Outport
Name "Out1"
Position [150, 33, 180, 47]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
Points [0, 0]
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Discrete PID"
Ports [2, 1]
Position [220, 30, 260, 90]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskPromptString "Proportional Gain (K)|Part of Commanded sig"
"nal used for P Gain (b)|Integral Gain (Ti)|Derivative Gain (Td)|Derivative Di"
"visor (N)|Anti-Windup Gain (Tt)|Output Upper Limit (Umax)|Output Lower Limit "
"(Umin)|Sample Time (Ts)"
MaskStyleString "edit,edit,edit,edit,edit,edit,edit,edit,edi"
"t"
MaskTunableValueString "on,on,on,on,on,on,on,on,on"
MaskCallbackString "||||||||"
MaskEnableString "on,on,on,on,on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on,on,on,on,on"
MaskToolTipString "on,on,on,on,on,on,on,on,on"
MaskVarAliasString ",,,,,,,,"
MaskVariables "K=@1;b=@2;Ti=@3;Td=@4;N=@5;Tt=@6;Umax=@7;Um"
"in=@8;Ts=@9;"
MaskDisplay "disp('DISC\\nPID_2')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "0.1|0.7|0.01|1e-5|4|0.005|12|-12|Ts"
MaskTabNameString ",,,,,,,,"
System {
Name "Discrete PID"
Location [420, 523, 1226, 958]
Open on
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 "uc"
Position [25, 123, 55, 137]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "y"
Position [25, 183, 55, 197]
Port "2"
IconDisplay "Port number"
Port {
PortNumber 1
Name "y(k)"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Anti-Windup Feedback"
Position [510, 24, 560, 56]
Orientation "left"
Gain "1/Tt"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "Ts"
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator1"
Ports [1, 1]
Position [310, 49, 345, 81]
IntegratorMethod "Integration: Forward Euler"
gainval "K"
ExternalReset "none"
InitialConditionSource "internal"
SampleTime "Ts"
IgnoreLimit off
ICPrevOutput "DiscIntNeverNeededParam"
ICPrevScaledInput "DiscIntNeverNeededParam"
Port {
PortNumber 1
Name "I(k)"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Gain
Name "Kd"
Position [270, 278, 390, 332]
Gain "K*Td*N/(Td+N*Ts)"
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