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📄 chap9_5.mdl

📁 这是偶近几年来研究的多种PID控制程序
💻 MDL
📖 第 1 页 / 共 2 页
字号:
	  Open			  off
	  NumInputPorts		  "1"
	  TickLabels		  "OneTimeTick"
	  ZoomMode		  "on"
	  List {
	    ListType		    AxesTitles
	    axes1		    "%<SignalLabel>"
	  }
	  Grid			  "on"
	  TimeRange		  "auto"
	  YMin			  "-80"
	  YMax			  "80"
	  SaveToWorkspace	  off
	  SaveName		  "ScopeData"
	  DataFormat		  "StructureWithTime"
	  LimitMaxRows		  on
	  MaxRows		  "50000"
	  Decimation		  "1"
	  SampleInput		  off
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum4"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [180, 155, 210, 185]
	  ForegroundColor	  "red"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "-+-"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum5"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [435, 160, 455, 180]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [625, 163, 655, 177]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Sum5"
	  SrcPort		  1
	  DstBlock		  "    "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "\n\n\n\n"
	  SrcPort		  1
	  Points		  [-195, 0]
	  DstBlock		  "Sum4"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "    "
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    Points		    [0, 185]
	    DstBlock		    "\n\n\n\n"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Out1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "   "
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    Points		    [0, -45]
	    DstBlock		    "\n\n\n\n \n"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "  "
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "\n\n\n\n \n"
	  SrcPort		  1
	  Points		  [-45, 0]
	  DstBlock		  "Sum4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "  "
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Sum5"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -55]
	    DstBlock		    "Scope"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "     "
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "Sum5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Friction model"
	  SrcPort		  1
	  DstBlock		  "     "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Sum4"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "In2"
	  SrcPort		  1
	  DstBlock		  "Friction model"
	  DstPort		  1
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "Sum4"
	  SrcPort		  1
	  DstBlock		  "   "
	  DstPort		  1
	}
	Annotation {
	  Position		  [339, 158]
	  Text			  "i"
	}
	Annotation {
	  Position		  [419, 393]
	  Text			  "Direct Current Motor model\n"
	}
	Annotation {
	  Position		  [159, 66]
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [115, 200, 135, 220]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [285, 160, 305, 180]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [205, 160, 225, 180]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold2"
      Position		      [245, 150, 265, 190]
      SampleTime	      "0.001"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold3"
      Position		      [205, 335, 225, 375]
      Orientation	      "left"
      SampleTime	      "0.001"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold4"
      Position		      [560, 160, 580, 200]
      SampleTime	      "0.001"
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Kd"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Scope1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[15, 0]
	Branch {
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 115; 45, 0]
	  Branch {
	    Labels		    [1, 0]
	    DstBlock		    "Kv"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
      }
      Branch {
	Points			[0, 65; -65, 0]
	DstBlock		"Subsystem"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Zero-Order\nHold4"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, 175]
	DstBlock		"Zero-Order\nHold3"
	DstPort			1
      }
      Branch {
	DstBlock		"Zero-Order\nHold4"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "PID Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Zero-Order\nHold3"
      SrcPort		      1
      Points		      [-75, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "From\nWorkspace1"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	Points			[485, 0; 0, 235]
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	DstBlock		"Friction model"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Friction model"
      SrcPort		      1
      DstBlock		      "     "
      DstPort		      1
    }
    Line {
      SrcBlock		      "     "
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      Labels		      [0, 0]
      SrcBlock		      "Kv"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "PID Controller"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      DstBlock		      "Zero-Order\nHold2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ku"
      SrcPort		      1
      DstBlock		      "Subsystem"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kd"
      SrcPort		      1
      DstBlock		      "Ku"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From\nWorkspace"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, -75; 505, 0]
	DstBlock		"Mux1"
	DstPort			1
      }
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Zero-Order\nHold2"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Annotation {
      Position		      [231, 158]
      Text		      "u"
    }
    Annotation {
      Position		      [417, 377]
      Text		      "Position Loop"
    }
    Annotation {
      Position		      [473, 304]
      Text		      "Velocity Loop"
    }
    Annotation {
      Position		      [102, 429]
      Text		      "Flight Simulator Servo System"
    }
    Annotation {
      Position		      [137, 192]
      Text		      "error"
    }
  }
}

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