exm0953_1.mdl

matlab教程

	  Labels		  [-1, 1]
	  SrcBlock		  "InvMass"
	  SrcPort		  1
	  DstBlock		  "Int1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "InvMass"
	  DstPort		  1
	}
	Line {
	  Name			  "   Fe"
	  Labels		  [1, 0]
	  SrcBlock		  "LowLim"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Max Brake"
	  SrcPort		  1
	  DstBlock		  "LowLim"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "UpLim"
	  SrcPort		  1
	  DstBlock		  "LowLim"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Max Thrust"
	  SrcPort		  1
	  DstBlock		  "UpLim"
	  DstPort		  1
	}
	Annotation {
	  Position		  [401, 158]
	  Text			  "Mux"
	}
	Annotation {
	  Position		  [263, 47]
	  Text			  "Sum1"
	}
      }
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [195, 65, 215, 85]
      DisplayTime	      off
      Decimation	      "10"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [140, 119, 180, 141]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Value		      "1"
    }
    Block {
      BlockType		      Display
      Name		      "Display"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [230, 115, 320, 145]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Format		      "short"
      Decimation	      "1"
      Floating		      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      SubSystem
      Name		      "PID Controller"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [60, 31, 155, 89]
      NamePlacement	      "alternate"
      ShowPortLabels	      on
      System {
	Name			"PID Controller"
	Location		[-40, 81, 400, 245]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "SaIn -"
	  Position		  [25, 62, 55, 78]
	  NamePlacement		  "alternate"
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "ScIn +"
	  Position		  [25, 83, 55, 97]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  DiscreteTransferFcn
	  Name			  "DD"
	  Position		  [145, 114, 200, 146]
	  Numerator		  "[1 -1]"
	  Denominator		  "[1 0]"
	  SampleTime		  "0.5"
	  Port {
	    PortNumber		    1
	    Name		    "vd"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  DiscreteIntegrator
	  Name			  "DT-I"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [145, 63, 200, 97]
	  IntegratorMethod	  "ForwardEuler"
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  on
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  SampleTime		  "0.5"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Kd"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [230, 119, 280, 141]
	  NamePlacement		  "alternate"
	  SourceBlock		  "simulink3/Math/Slider\nGain"
	  SourceType		  "Slider Gain"
	  low			  "0"
	  gain			  "70"
	  high			  "100"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Ki"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [230, 69, 280, 91]
	  NamePlacement		  "alternate"
	  SourceBlock		  "simulink3/Math/Slider\nGain"
	  SourceType		  "Slider Gain"
	  low			  "0"
	  gain			  "3"
	  high			  "5"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Kp "
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [230, 19, 280, 41]
	  NamePlacement		  "alternate"
	  SourceBlock		  "simulink3/Math/Slider\nGain"
	  SourceType		  "Slider Gain"
	  low			  "0"
	  gain			  "10"
	  high			  "100"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [80, 60, 95, 100]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "-+"
	  SaturateOnIntegerOverflow on
	  Port {
	    PortNumber		    1
	    Name		    "v"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [310, 60, 340, 100]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	  SaturateOnIntegerOverflow on
	  Port {
	    PortNumber		    1
	    Name		    "Fc"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "ZOH"
	  Position		  [145, 14, 200, 46]
	  SampleTime		  "0.5"
	}
	Block {
	  BlockType		  Outport
	  Name			  "FcOut"
	  Position		  [370, 73, 400, 87]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "ScIn +"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "DT-I"
	  SrcPort		  1
	  DstBlock		  "Ki"
	  DstPort		  1
	}
	Line {
	  Name			  "vd"
	  Labels		  [0, 0]
	  SrcBlock		  "DD"
	  SrcPort		  1
	  DstBlock		  "Kd"
	  DstPort		  1
	}
	Line {
	  Name			  "v"
	  Labels		  [0, 0]
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [20, 0]
	  Branch {
	    DstBlock		    "DT-I"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "DD"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "ZOH"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "SaIn -"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Ki"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Kd"
	  SrcPort		  1
	  Points		  [40, 0]
	  DstBlock		  "Sum1"
	  DstPort		  3
	}
	Line {
	  Name			  "Fc"
	  Labels		  [0, 0]
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "FcOut"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "ZOH"
	  SrcPort		  1
	  DstBlock		  "Kp "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Kp "
	  SrcPort		  1
	  Points		  [40, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Annotation {
	  Position		  [91, 109]
	  Text			  "Sum2"
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [380, 114, 410, 146]
      NamePlacement	      "alternate"
      Floating		      off
      Location		      [445, 18, 637, 257]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "yonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "60"
      YMax		      "100"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Slider Gain "
      Ports		      [1, 1, 0, 0, 0]
      Position		      [50, 120, 115, 140]
      Orientation	      "left"
      NamePlacement	      "alternate"
      SourceBlock	      "simulink3/Math/Slider\nGain"
      SourceType	      "Slider Gain"
      low		      "0"
      gain		      "90"
      high		      "100"
      Port {
	PortNumber		1
	Name			"x'c"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Line {
      SrcBlock		      "PID Controller"
      SrcPort		      1
      Points		      [10, 0; 0, -15]
      DstBlock		      "Automobile Model"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Automobile Model"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Slider Gain "
      DstPort		      1
    }
    Line {
      Name		      "x'c"
      Labels		      [0, 0]
      SrcBlock		      "Slider Gain "
      SrcPort		      1
      Points		      [-25, 0; 0, -55]
      DstBlock		      "PID Controller"
      DstPort		      2
    }
    Line {
      Name		      "x'"
      SrcBlock		      "Automobile Model"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, -50; -380, 0; 0, 35]
	DstBlock		"PID Controller"
	DstPort			1
      }
      Branch {
	Labels			[1, 0]
	Points			[0, 35; -50, 0; 0, 35]
	Branch {
	  DstBlock		  "Scope"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Display"
	  DstPort		  1
	}
      }
    }
  }
}