📄 c9mball.mdl
字号:
}
Block {
BlockType Gain
Name "Kp\n"
Position [115, 48, 155, 82]
FontName "Times New Roman"
FontSize 12
Gain "Kp"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [1, 1]
Position [210, 28, 315, 102]
FontName "Times New Roman"
FontSize 12
TreatAsAtomicUnit off
System {
Name "Subsystem"
Location [228, 98, 848, 351]
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 "VMAX_UPM"
LowerLimit "-VMAX_UPM"
}
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 "Velocity \nto \nPosition"
SrcPort 1
DstBlock "theta"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Voltage -> Current"
DstPort 1
}
Line {
SrcBlock "Inertia"
SrcPort 1
DstBlock "Acceleration\nto\nVelocity"
DstPort 1
}
Line {
SrcBlock "Back EMF"
SrcPort 1
Points [-170, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Inertia"
DstPort 1
}
Line {
SrcBlock "Current -> Torque"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Viscous Damping"
SrcPort 1
Points [-40, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Vm"
SrcPort 1
DstBlock "UPM Voltage\nSaturation\n"
DstPort 1
}
Line {
SrcBlock "UPM Voltage\nSaturation\n"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Voltage -> Current"
SrcPort 1
DstBlock "Current -> Torque"
DstPort 1
}
Line {
SrcBlock "Acceleration\nto\nVelocity"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Velocity \nto \nPosition"
DstPort 1
}
Branch {
Points [0, 85]
DstBlock "Back EMF"
DstPort 1
}
Branch {
Points [0, -70]
DstBlock "Viscous Damping"
DstPort 1
}
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [75, 55, 95, 75]
ShowName off
FontName "Times New Roman"
FontSize 12
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [170, 55, 190, 75]
ShowName off
FontName "Times New Roman"
FontSize 12
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Outport
Name "Theta"
Position [345, 58, 375, 72]
FontName "Times New Roman"
FontSize 12
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 95]
DstBlock "Kd"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
Points [0, 145; -240, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Theta"
DstPort 1
}
}
}
Line {
SrcBlock "Kp\n"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Kp\n"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
DstBlock "Derivative\nw/ filter"
DstPort 1
}
Line {
SrcBlock "Derivative\nw/ filter"
SrcPort 1
Points [-5, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Theta_d"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
}
}
Block {
BlockType Gain
Name "Theta to Alpha"
Position [365, 34, 405, 76]
ShowName off
FontName "Times New Roman"
FontSize 12
Gain "r/L"
}
Block {
BlockType Outport
Name "Out1"
Position [375, 153, 405, 167]
ShowName off
FontName "Times New Roman"
FontSize 12
}
Line {
SrcBlock "Non-Linear\nRelationship"
SrcPort 1
DstBlock "Dynamics of\nthe Ball"
DstPort 1
}
Line {
SrcBlock "Dynamics of\nthe Ball"
SrcPort 1
DstBlock "Derivative\nw/ filter"
DstPort 1
}
Line {
SrcBlock "Alpha to Theta"
SrcPort 1
DstBlock "Must \nOpertate\nin Linear\nRegion"
DstPort 1
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
DstBlock "Theta to Alpha"
DstPort 1
}
Line {
SrcBlock "Must \nOpertate\nin Linear\nRegion"
SrcPort 1
DstBlock "Subsystem1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Alpha to Theta"
DstPort 1
}
Line {
SrcBlock "Derivative\nw/ filter"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Theta to Alpha"
SrcPort 1
Points [15, 0; 0, 70; -270, 0; 0, 35]
DstBlock "Non-Linear\nRelationship"
DstPort 1
}
}
}
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -