📄 c9mdcm.mdl
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Block {
BlockType SubSystem
Name "Subsystem"
Ports [1, 1]
Position [235, 48, 340, 122]
FontName "Times New Roman"
FontSize 12
TreatAsAtomicUnit off
System {
Name "Subsystem"
Location [226, 82, 850, 388]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "Vm"
Position [25, 108, 55, 122]
FontName "Times New Roman"
FontSize 12
}
Block {
BlockType Integrator
Name "Acceleration\nto\nVelocity"
Ports [1, 1]
Position [460, 100, 490, 130]
ShowName off
FontName "Times New Roman"
FontSize 12
}
Block {
BlockType Gain
Name "Back EMF"
Position [305, 174, 380, 226]
Orientation "left"
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "Km*Kg"
}
Block {
BlockType Gain
Name "Current -> Torque"
Position [225, 87, 340, 143]
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "Eg*Em*Kt*Kg"
}
Block {
BlockType Gain
Name "Inertia"
Position [390, 95, 445, 135]
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "1/Jeq"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [120, 105, 140, 125]
ShowName off
FontName "Times New Roman"
FontSize 12
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [355, 105, 375, 125]
ShowName off
FontName "Times New Roman"
FontSize 12
IconShape "round"
Inputs "-+|"
}
Block {
BlockType Saturate
Name "UPM Voltage\nSaturation\n"
Position [75, 100, 105, 130]
ShowName off
FontName "Times New Roman"
FontSize 12
UpperLimit "24"
LowerLimit "-24"
}
Block {
BlockType Integrator
Name "Velocity \nto \nPosition"
Ports [1, 1]
Position [520, 99, 550, 131]
ShowName off
FontName "Times New Roman"
FontSize 12
}
Block {
BlockType Gain
Name "Viscous Damping"
Position [410, 25, 450, 65]
Orientation "left"
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "Beq"
}
Block {
BlockType Gain
Name "Voltage -> Current"
Position [155, 91, 210, 139]
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "1/Rm"
}
Block {
BlockType Outport
Name "theta"
Position [565, 108, 595, 122]
FontName "Times New Roman"
FontSize 12
}
Line {
SrcBlock "Acceleration\nto\nVelocity"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, -70]
DstBlock "Viscous Damping"
DstPort 1
}
Branch {
Points [0, 85]
DstBlock "Back EMF"
DstPort 1
}
Branch {
DstBlock "Velocity \nto \nPosition"
DstPort 1
}
}
Line {
SrcBlock "Voltage -> Current"
SrcPort 1
DstBlock "Current -> Torque"
DstPort 1
}
Line {
SrcBlock "UPM Voltage\nSaturation\n"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Vm"
SrcPort 1
DstBlock "UPM Voltage\nSaturation\n"
DstPort 1
}
Line {
SrcBlock "Viscous Damping"
SrcPort 1
Points [-40, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Current -> Torque"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Inertia"
DstPort 1
}
Line {
SrcBlock "Back EMF"
SrcPort 1
Points [-170, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Inertia"
SrcPort 1
DstBlock "Acceleration\nto\nVelocity"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Voltage -> Current"
DstPort 1
}
Line {
SrcBlock "Velocity \nto \nPosition"
SrcPort 1
DstBlock "theta"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [95, 75, 115, 95]
ShowName off
FontName "Times New Roman"
FontSize 12
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [195, 75, 215, 95]
ShowName off
FontName "Times New Roman"
FontSize 12
IconShape "round"
Inputs "++-"
}
Block {
BlockType Outport
Name "Theta"
Position [370, 78, 400, 92]
FontName "Times New Roman"
FontSize 12
}
Line {
SrcBlock "Theta_d"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Derivative\nw/ filter"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [5, 0]
Branch {
Points [0, -35]
DstBlock "Derivative\nw/ filter1"
DstPort 1
}
Branch {
DstBlock "Kp\n"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 0]
Branch {
DstBlock "Theta"
DstPort 1
}
Branch {
Points [0, 145; -245, 0]
DstBlock "Sum"
DstPort 2
}
}
Branch {
Points [0, 95]
DstBlock "Kd"
DstPort 1
}
}
Line {
SrcBlock "Derivative\nw/ filter"
SrcPort 1
Points [-5, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Kp\n"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Derivative\nw/ filter1"
SrcPort 1
Points [15, 0]
DstBlock "Sum1"
DstPort 1
}
}
}
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