📄 chap9_6.mdl
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Line {
SrcBlock "In3"
SrcPort 1
Points [270, 0]
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "\n\n\n\n"
SrcPort 1
Points [-160, 0]
DstBlock "Sum4"
DstPort 3
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock " "
DstPort 1
}
Annotation {
Position [249, 158]
Text "i"
}
Annotation {
Position [294, 343]
Text "Direct Current Motor model\n"
}
Annotation {
Position [159, 66]
}
}
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [80, 165, 100, 185]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1, 0, 0, 0]
Position [365, 185, 385, 205]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1, 0, 0, 0]
Position [470, 185, 490, 205]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [635, 120, 665, 135]
Orientation "up"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out2"
Position [570, 120, 600, 135]
Orientation "up"
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
Labels [0, 0]
SrcBlock "Kv"
SrcPort 1
Points [-40, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Motor Model"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 115]
DstBlock "Kv"
DstPort 1
}
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock " 2"
DstPort 1
}
Line {
SrcBlock " 2"
SrcPort 1
DstBlock " 5"
DstPort 1
}
Line {
SrcBlock " 5"
SrcPort 1
DstBlock "Motor Model"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 60; -275, 0]
DstBlock "Sum5"
DstPort 2
}
Branch {
DstBlock "Out1"
DstPort 1
}
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
SrcBlock " "
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum6"
DstPort 1
}
Branch {
Points [0, 100; -245, 0]
DstBlock "Motor Model"
DstPort 2
}
}
Line {
SrcBlock " "
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Friction model1"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
DstBlock "Out2"
DstPort 1
}
}
}
Line {
SrcBlock "Friction model1"
SrcPort 1
Points [0, 15]
DstBlock " 4"
DstPort 1
}
Line {
SrcBlock " 4"
SrcPort 1
Points [-30, 0]
DstBlock "Sum6"
DstPort 2
}
Annotation {
Position [228, 344]
Text "Velocity Loop"
}
Annotation {
Position [652, 272]
Text "Position Loop"
}
}
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [555, 104, 580, 171]
ShowName off
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [515, 283, 540, 347]
ShowName off
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Reference
Name "PID Controller"
Ports [1, 1, 0, 0, 0]
Position [270, 155, 300, 185]
SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "kpp"
I "kii"
D "kdd"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [620, 125, 645, 155]
Floating off
Location [170, 167, 616, 442]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-0.5"
YMax "0.5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1, 0, 0, 0, 0]
Position [605, 300, 630, 330]
Floating off
Location [150, 201, 593, 475]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-1.75"
YMax "1.75"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "500000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [210, 160, 230, 180]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold2"
Position [355, 147, 380, 193]
SampleTime "0.001"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold3"
Position [305, 240, 330, 290]
Orientation "left"
SampleTime "0.001"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold4"
Position [505, 131, 530, 179]
SampleTime "0.001"
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold4"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Zero-Order\nHold2"
SrcPort 1
DstBlock "General Plant"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "General Plant"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 110]
DstBlock "Zero-Order\nHold3"
DstPort 1
}
Branch {
DstBlock "Zero-Order\nHold4"
DstPort 1
}
}
Line {
SrcBlock "General Plant"
SrcPort 2
Points [10, 0; 0, 115]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PID Controller"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold3"
SrcPort 1
Points [-80, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "From\nWorkspace"
SrcPort 1
Points [50, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "PID Controller"
SrcPort 1
DstBlock "Zero-Order\nHold2"
DstPort 1
}
Line {
SrcBlock "From\nWorkspace1"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Annotation {
Position [321, 163]
Text "u"
}
Annotation {
Position [232, 152]
Text "error"
}
}
}
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