📄 testmotor_simulinkf_070530.mdl
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Line {
SrcBlock "Divide3"
SrcPort 1
Points [15, 0; 0, -50]
DstBlock "A_dis(1)1"
DstPort 2
}
Line {
SrcBlock "A_dis(1)1"
SrcPort 1
Points [40, 0; 0, -70]
DstBlock "A_dis(1)2"
DstPort 2
}
Line {
SrcBlock "A_dis(1)"
SrcPort 1
Points [40, 0; 0, 35]
DstBlock "A_dis(1)2"
DstPort 1
}
Line {
SrcBlock "A_dis(1)2"
SrcPort 1
Points [65, 0; 0, -10]
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Product
Name "Product11"
Ports [2, 1]
Position [280, 488, 320, 537]
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [415, 103, 455, 152]
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product4"
Ports [2, 1]
Position [570, 212, 610, 263]
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product5"
Ports [2, 1]
Position [435, 503, 475, 552]
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product6"
Ports [2, 1]
Position [150, 299, 190, 441]
Orientation "left"
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product7"
Ports [2, 1]
Position [225, 266, 270, 344]
Orientation "left"
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Product
Name "Product8"
Ports [3, 1]
Position [530, 376, 570, 434]
Orientation "left"
Inputs "3"
Multiplication "Matrix(*)"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Constant
Name "R(k)"
Position [580, 448, 650, 482]
Orientation "left"
Value "Rk"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [525, 495, 545, 515]
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [495, 70, 515, 90]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1]
Position [630, 170, 650, 190]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
Port {
PortNumber 1
Name "xhat"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum7"
Ports [2, 1]
Position [420, 395, 440, 415]
Orientation "left"
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Outport
Name "xhat"
Position [720, 173, 750, 187]
NamePlacement "alternate"
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "Px"
Position [720, 498, 750, 512]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
Name "xhat"
Labels [0, 0]
SrcBlock "Sum6"
SrcPort 1
DstBlock "xhat"
DstPort 1
}
Line {
SrcBlock "H_yagoT1"
SrcPort 1
DstBlock "Product7"
DstPort 2
}
Line {
SrcBlock "R(k)"
SrcPort 1
Points [-145, 0]
DstBlock "Sum7"
DstPort 2
}
Line {
SrcBlock "Product8"
SrcPort 1
DstBlock "Sum7"
DstPort 1
}
Line {
SrcBlock "H_yago"
SrcPort 1
Points [0, 0]
DstBlock "Product8"
DstPort 1
}
Line {
SrcBlock "H_yago1"
SrcPort 1
Points [0, 0]
DstBlock "Product11"
DstPort 2
}
Line {
SrcBlock "Product11"
SrcPort 1
DstBlock "Product5"
DstPort 1
}
Line {
SrcBlock "H_yagoT"
SrcPort 1
Points [0, 0]
DstBlock "Product8"
DstPort 3
}
Line {
SrcBlock "Sum7"
SrcPort 1
DstBlock "INVERSE"
DstPort 1
}
Line {
SrcBlock "H_dis"
SrcPort 1
Points [0, 0]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [45, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [25, 0; 0, 170]
DstBlock "Product4"
DstPort 2
}
Line {
SrcBlock "Product4"
SrcPort 1
Points [25, 0]
DstBlock "Sum6"
DstPort 2
}
Line {
Name "pxbar"
Labels [0, 0]
SrcBlock "pxbar"
SrcPort 1
Points [0, 0; -30, 0]
Branch {
Points [0, -55; -100, 0]
Branch {
Points [0, 220]
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [-130, 0]
Branch {
DstBlock "Product7"
DstPort 1
}
Branch {
Labels [2, 0]
Points [0, 255]
DstBlock "Product5"
DstPort 2
}
}
}
Branch {
Points [0, 65]
DstBlock "Product8"
DstPort 2
}
}
Line {
SrcBlock "Product5"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "xbar"
SrcPort 1
Points [0, 0; 90, 0]
Branch {
DstBlock "Product2"
DstPort 2
}
Branch {
Points [0, 40]
DstBlock "Sum6"
DstPort 1
}
}
Line {
SrcBlock "Product7"
SrcPort 1
Points [-15, 0]
DstBlock "Product6"
DstPort 1
}
Line {
SrcBlock "Product6"
SrcPort 1
Points [0, 0; -30, 0]
Branch {
Points [0, 130]
DstBlock "Product11"
DstPort 1
}
Branch {
Points [0, -145]
DstBlock "Product4"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Px"
DstPort 1
}
Line {
SrcBlock "I_measure"
SrcPort 1
Points [155, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "INVERSE"
SrcPort 1
Points [0, 0]
DstBlock "Product6"
DstPort 2
}
Annotation {
Position [935, 769]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "ybar"
Position [530, 91]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "K"
Position [139, 481]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "pxbar"
Position [503, 478]
UseDisplayTextAsClickCallback off
}
}
}
Block {
BlockType SubSystem
Name "Time update"
Ports [3, 2]
Position [305, 26, 395, 174]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Time update"
Location [2, 82, 1014, 722]
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 "u_input"
Position [495, 228, 525, 242]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "xhat"
Position [210, 293, 240, 307]
NamePlacement "alternate"
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "px"
Position [500, 313, 530, 327]
NamePlacement "alternate"
Port "3"
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "A_dis"
Ports [1, 1]
Position [400, 97, 460, 143]
NamePlacement "alternate"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "A_dis"
Location [2, 82, 1014, 744]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins "[0.500000, 0.500000, 0.500000, 0.5000"
"00]"
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "xhat"
Position [15, 203, 45, 217]
IconDisplay "Port number"
}
Block {
BlockType Constant
Name "0"
Position [170, 75, 200, 105]
Value "0"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Constant
Name "0_1"
Position [165, 325, 195, 355]
Value "0"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
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