block89.mdl

realize analysis and design for computer-controlled system

Model {
  Name			  "block89"
  Version		  2.00
  SimParamPage		  Solver
  SampleTimeColors	  off
  WideVectorLines	  off
  PaperOrientation	  landscape
  StartTime		  "0.0"
  StopTime		  "80"
  Solver		  ode45
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  warning
  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
  ZeroCross		  on
  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
  }
  System {
    Name		    "block89"
    Location		    [121, 160, 621, 347]
    Open		    on
    ScreenColor		    white
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Position		      [370, 80, 390, 100]
      ShowName		      off
      ExternalReset	      none
      InitialConditionSource      internal
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit      "inf"
      LowerSaturationLimit      "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      SubSystem
      Name		      "PID"
      Position		      [200, 72, 245, 108]
      ShowPortLabels	      off
      MaskType		      "Anti windup PID"
      MaskDescription	      "Setpoint PID with anti-windup: e=(ysp-y)\nP=K*(b"
			      "*ysp-y)  D=(KTds/(1+Td/Ns)\ndI/dt=(K/Ti)*e+1/Tt("
			      "v-u) v=sat(P+I+D)"
      MaskHelp		      "Unmask this block to see how it works. Attach "
			      "the set point to input 1, the system output "
			      "to input 2, and the output of the block to "
			      "the system's input."
      MaskPromptString	      "Gain K|Setpoint b|Integral Ti|Antiwindup "
			      "gain Tt|Antiwindup saturation [low,high]|Derivat"
			      "ive gain and divisor [Td,N]"
      MaskStyleString	      "edit,edit,edit,edit,edit,edit"
      MaskInitialization      "K=@1 ; b =@2 ; Ti=@3 ; Tt=@4 ; ulow=@5(1); "
			      "uhigh=@5(2); Td=@6(1); N=@6(2);"
      MaskDisplay	      "plot(-3,-0.3,4,1.3,[0,1,2,3],[0,0,1,1]);disp('  "
			      " PID     ')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      off
      MaskIconUnits	      autoscale
      MaskValueString	      "1|1|1|0.1|[ulow,uhigh]|[0,1000]"
      System {
	Name			"PID"
	Location		[3, 80, 847, 716]
	Open			off
	ScreenColor		white
	Block {
	  BlockType		  Inport
	  Name			  "Set point"
	  Position		  [70, 175, 90, 195]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Inport
	  Name			  "System Output"
	  Position		  [70, 225, 90, 245]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Anti Windup Gain"
	  Position		  [260, 114, 310, 146]
	  Gain			  "1/Tt"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Derivative"
	  Position		  [355, 377, 450, 423]
	  Numerator		  "[-Td, 0]"
	  Denominator		  "[Td/N 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integrator"
	  Position		  [425, 168, 485, 202]
	  Numerator		  "[1]"
	  Denominator		  "[Ti 0]"
	}
	Block {
	  BlockType		  Sum
	  Name			  "P+I+D"
	  Position		  [550, 327, 570, 363]
	  Inputs		  "+++"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional"
	  Position		  [600, 329, 650, 361]
	  Gain			  "K"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation"
	  Position		  [155, 130, 180, 150]
	  UpperLimit		  "uhigh"
	  LowerLimit		  "ulow"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Position		  [415, 305, 435, 325]
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Position		  [215, 112, 235, 148]
	  ShowName		  off
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Sum
	  Name			  "error"
	  Position		  [365, 167, 385, 203]
	  Inputs		  "-+-"
	}
	Block {
	  BlockType		  Gain
	  Name			  "set point weighting"
	  Position		  [275, 230, 320, 260]
	  Gain			  "b"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Input to system"
	  Position		  [710, 335, 730, 355]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "set point weighting"
	  SrcPort		  1
	  Points		  [45, 0; 0, 65]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Proportional"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, -254; -540, 0; 0, 29]
	    Branch {
	      DstBlock		      "Sum3"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 20]
	      DstBlock		      "Saturation"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "Input to system"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "System Output"
	  SrcPort		  1
	  Points		  [45, 0]
	  Branch {
	    Points		    [0, 85]
	    Branch {
	      Points		      [0, 80]
	      DstBlock		      "Derivative"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Sum"
	      DstPort		      2
	    }
	  }
	  Branch {
	    Points		    [110, 0; 0, -40]
	    DstBlock		    "error"
	    DstPort		    3
	  }
	}
	Line {
	  SrcBlock		  "Anti Windup Gain"
	  SrcPort		  1
	  Points		  [20, 0; 0, 45]
	  DstBlock		  "error"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Anti Windup Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "error"
	  SrcPort		  1
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Set point"
	  SrcPort		  1
	  Points		  [85, 0]
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "set point weighting"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "error"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [45, 0; 0, 30]
	  DstBlock		  "P+I+D"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative"
	  SrcPort		  1
	  Points		  [30, 0; 0, -45]
	  DstBlock		  "P+I+D"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "P+I+D"
	  SrcPort		  1
	  DstBlock		  "Proportional"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [30, 0; 0, 150]
	  DstBlock		  "P+I+D"
	  DstPort		  1
	}
	Annotation {
	  Position		  [207, 178]
	  VerticalAlignment	  top
	  Text			  "ysp"
	}
	Annotation {
	  Position		  [147, 218]
	  VerticalAlignment	  top
	  Text			  "y"
	}
	Annotation {
	  Position		  [412, 48]
	  VerticalAlignment	  top
	  Text			  "PID controller with set point weighting "
				  "and anti-windup."
	}
      }
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [275, 78, 305, 102]
      UpperLimit	      "0.1"
      LowerLimit	      "-0.1"
    }
    Block {
      BlockType		      Step
      Name		      "Step Input"
      Position		      [105, 70, 125, 90]
      ShowName		      off
      Time		      "0"
      Before		      "0"
      After		      "1"
    }
    Block {
      BlockType		      Outport
      Name		      "u"
      Position		      [340, 35, 360, 55]
      Port		      "1"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Block {
      BlockType		      Outport
      Name		      "y"
      Position		      [430, 80, 450, 100]
      Port		      "2"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Block {
      BlockType		      Outport
      Name		      "uc"
      Position		      [155, 25, 175, 45]
      Port		      "3"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[5, 0; 0, -45]
	DstBlock		"uc"
	DstPort			1
      }
      Branch {
	DstBlock		"PID"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Integrator"
	DstPort			1
      }
      Branch {
	Points			[10, 0; 0, -45]
	DstBlock		"u"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "PID"
      SrcPort		      1
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"y"
	DstPort			1
      }
      Branch {
	Points			[0, 55; -215, 0; 0, -45]
	DstBlock		"PID"
	DstPort			2
      }
    }
  }
}