📄 pneumaticsystem_fangzhen.mdl
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Model {
Name "fangzhen_cjy"
Version 4.0
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines on
ShowLineDimensions off
ShowPortDataTypes off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovNameIncrementing off
CovHtmlReporting on
BlockNameDataTip off
BlockParametersDataTip on
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Sat Aug 28 09:40:04 2004"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "zhou"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Fri Oct 14 14:37:03 2005"
ModelVersionFormat "1.%<AutoIncrement:128>"
ConfigurationManager "None"
SimParamPage "RTW"
LinearizationMsg "none"
Profile off
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
ExtModeLogAll on
BufferReuse on
SimulationMode "normal"
Solver "ode45"
SolverMode "Auto"
StartTime "0.0"
StopTime "6"
MaxOrder 5
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-3"
AbsTol "auto"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
Refine "1"
LoadExternalInput off
ExternalInput "[t, u]"
LoadInitialState off
InitialState "xInitial"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
Decimation "1"
LimitDataPoints off
MaxDataPoints "1000"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
AlgebraicLoopMsg "warning"
BlockPriorityViolationMsg "warning"
MinStepSizeMsg "warning"
InheritedTsInSrcMsg "warning"
MultiTaskRateTransMsg "error"
SingleTaskRateTransMsg "none"
CheckForMatrixSingularity "none"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
SfunCompatibilityCheckMsg "none"
RTWInlineParameters off
BlockReductionOpt on
BooleanDataType off
ParameterPooling on
OptimizeBlockIOStorage on
ZeroCross on
RTWSystemTargetFile "grt.tlc"
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
RTWRetainRTWFile off
TLCProfiler off
TLCDebug off
TLCCoverage off
RTWOptions "-aEnforceIntegerDowncast=1 -aExtMode=0 -aFoldNonRol"
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BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "tp365801"
Location [2, 78, 1022, 717]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "156"
ReportName "simulink-default.rpt"
Block {
BlockType Gain
Name "1/m"
Position [420, 150, 450, 180]
Gain "0.1"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "A1"
Position [320, 40, 350, 70]
Gain "0.0019628"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "A2"
Position [320, 110, 350, 140]
Gain "0.0016485"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
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Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [525, 150, 555, 180]
NamePlacement "alternate"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput on
UpperSaturationLimit "0.55"
LowerSaturationLimit "0"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [470, 150, 500, 180]
NamePlacement "alternate"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [85, 241, 90, 279]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Sum
Name "Sum"
Ports [4, 1]
Position [380, 49, 395, 281]
ShowName off
IconShape "rectangular"
Inputs "|+---"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [80, 87, 90, 183]
ShowName off
IconShape "rectangular"
Inputs "|-+"
SaturateOnIntegerOverflow on
}
Block {
BlockType Scope
Name "缸摩擦力"
Ports [1]
Position [430, 239, 460, 271]
Floating off
Location [305, 240, 629, 479]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "auto"
YMin "-30"
YMax "30"
SaveToWorkspace off
SaveName "ScopeData6"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType SubSystem
Name "控制子系统"
Ports [1, 1]
Position [110, 109, 150, 161]
ShowPortLabels on
Permissions "ReadWrite"
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
MaskType "PID controller"
MaskDescription "This is a PID contorller."
MaskPromptString "Biggest Output C|Constant C2|Differential Kd2|I"
"ntegeral Ki2|Proporational Kp2|Constant C1|Differential Kd1|Integeral Ki1|Pro"
"porational Kp1"
MaskStyleString "edit,edit,edit,edit,edit,edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on,on,on,on,on,on"
MaskCallbackString "||||||||"
MaskEnableString "on,on,on,on,on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on,on,on,on,on"
MaskToolTipString "on,on,on,on,on,on,on,on,on"
MaskVariables "C=@1;C2=@2;Kd2=@3;Ki2=@4;Kp2=@5;C1=@6;Kd1=@7;Ki"
"1=@8;Kp1=@9;"
MaskDisplay "disp('PID\\n\\ncontroller')"
MaskIconFrame on
MaskIconOpaque off
MaskIconRotate "none"
MaskIconUnits "normalized"
MaskValueString "3|-0.09|0.01|0.02|12|0.09|0.015|0.02|15"
System {
Name "控制子系统"
Location [97, 115, 932, 673]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "e"
Position [25, 273, 55, 287]
Port "1"
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Constant
Name "Constant1"
Position [580, 275, 610, 305]
Value "C"
VectorParams1D on
}
Block {
BlockType Constant
Name "Constant2"
Position [685, 335, 715, 365]
Value "-C"
VectorParams1D on
}
Block {
BlockType Constant
Name "Constant4"
Position [445, 380, 475, 410]
Value "0"
VectorParams1D on
}
Block {
BlockType Derivative
Name "Derivative"
Position [165, 205, 195, 235]
}
Block {
BlockType Derivative
Name "Derivative1"
Position [170, 495, 200, 525]
}
Block {
BlockType Constant
Name "F1"
Position [170, 345, 200, 375]
Value "C2"
VectorParams1D on
}
Block {
BlockType Constant
Name "F4"
Position [165, 70, 195, 100]
Value "C1"
VectorParams1D on
}
Block {
BlockType Gain
Name "Gain1"
Position [130, 115, 180, 145]
Gain "Kp1"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain2"
Position [135, 394, 180, 426]
Gain "Kp2"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain3"
Position [95, 445, 140, 475]
Gain "Ki2"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain4"
Position [95, 158, 140, 192]
Gain "Ki1"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain5"
Position [95, 205, 140, 235]
Gain "Kd1"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain6"
Position [95, 494, 140, 526]
Gain "Kd2"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [170, 445, 200, 475]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [165, 160, 195, 190]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Lookup
Name "Look-Up\nTable"
Position [435, 294, 485, 346]
InputValues "[-1 -0.00051 -0.00049 0.00049 0.00051 1]"
OutputValues "[2 1 -1 -1 1 2]"
}
Block {
BlockType Sum
Name "Sum1"
Ports [4, 1]
Position [230, 13, 250, 247]
ShowName off
IconShape "rectangular"
Inputs "|++++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [4, 1]
Position [230, 287, 250, 533]
ShowName off
IconShape "rectangular"
Inputs "|++++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Switch
Name "Switch"
Position [520, 259, 550, 381]
""
Threshold "0"
}
Block {
BlockType Switch
Name "Switch1"
Position [350, 218, 380, 342]
""
Threshold "0"
}
Block {
BlockType Switch
Name "Switch4"
Position [640, 271, 660, 369]
""
Threshold "C"
}
Block {
BlockType Switch
Name "Switch5"
Position [745, 271, 765, 369]
""
Threshold "-C"
}
Block {
BlockType Outport
Name "u"
Position [795, 313, 825, 327]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "F4"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Integrator2"
SrcPort 1
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Gain5"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Sum1"
DstPort 4
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "Look-Up\nTable"
SrcPort 1
DstBlock "Switch"
DstPort 2
}
Line {
Labels [2, 0]
SrcBlock "Constant4"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Switch"
DstPort 3
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Line {
SrcBlock "e"
SrcPort 1
Points [5, 0]
Branch {
Points [0, -60]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "Gain1"
DstPort 1
}
Branch {
DstBlock "Gain4"
DstPort 1
}
}
Branch {
DstBlock "Gain5"
DstPort 1
}
}
Branch {
Points [0, 130]
Branch {
Points [0, 50]
Branch {
DstBlock "Gain3"
DstPort 1
}
Branch {
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