📄 c_ss_controller.mdl
字号:
Labels [0, 0]
SrcBlock "Rotor inertia1"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
Name "th_l"
Labels [0, 0]
SrcBlock "Integrator4"
SrcPort 1
Points [0, 0; 30, 0]
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 Damping"
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 [0, 105]
DstBlock "Mux"
DstPort 4
}
}
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [680, 104, 710, 136]
Floating off
Location [388, 741, 712, 980]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.8"
YMax "-0.1"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope10"
Ports [1]
Position [465, 39, 495, 71]
Floating off
Location [35, 579, 359, 818]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-12.5"
YMax "12.5"
SaveName "ScopeData9"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [670, 39, 700, 71]
Floating off
Location [388, 741, 712, 980]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.1"
YMax "1.1"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [740, 129, 770, 161]
Floating off
Location [330, 284, 654, 523]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMax "15"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope8"
Ports [1]
Position [725, 74, 755, 106]
Floating off
Location [330, 284, 654, 523]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMax "15"
SaveName "ScopeData7"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [85, 70, 115, 100]
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [80, 130, 115, 160]
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 "Demux"
SrcPort 4
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Mechanics"
SrcPort 1
Points [70, 0]
Branch {
DstBlock "Demux"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0]
DstBlock "Scope8"
DstPort 1
}
Line {
SrcBlock "Mechanics"
SrcPort 2
Points [35, 0; 0, 125; -535, 0; 0, -110]
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Controller"
SrcPort 1
DstBlock "Amplifier"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "Controller"
DstPort 2
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Controller"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [60, 0; 0, 35; 10, 0]
DstBlock "Scope3"
DstPort 1
}
}
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -