📄 m4_7_4.mdl
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Line {
SrcBlock "Permanent feedback \n"
SrcPort 1
Points [-120, 0; 0, -120]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
Ports [1, 1]
Position [215, 64, 285, 126]
AttributesFormatString "Hydro_servo system"
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
MaskDisplay "disp('Servo System')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Subsystem1"
Location [172, 288, 752, 525]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [25, 28, 55, 42]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType DeadZone
Name "Dead Zone"
Position [190, 150, 220, 180]
LowerValue "-0.033"
UpperValue "0.033"
SaturateOnIntegerOverflow on
LinearizeAsGain on
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [425, 150, 455, 180]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput on
UpperSaturationLimit "1"
LowerSaturationLimit "0"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [435, 35, 465, 65]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput on
UpperSaturationLimit "0.44"
LowerSaturationLimit "-0.44"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Gain
Name "KDY*KFJ"
Position [380, 35, 410, 65]
Gain "10"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "KF"
Position [95, 99, 150, 131]
Orientation "left"
Gain "0.106"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "KZH"
Position [130, 31, 180, 69]
Gain "17.74"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "KZJ"
Position [370, 150, 405, 180]
Gain "0.5"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Saturate
Name "Saturation1"
Position [205, 35, 235, 65]
UpperLimit "1"
LowerLimit "-1"
LinearizeAsGain on
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [80, 26, 105, 74]
ShowName off
IconShape "rectangular"
Inputs "+--"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [245, 145, 340, 185]
Numerator "[88.7]"
Denominator "[1 4.71 88.7]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [260, 32, 355, 68]
Numerator "[1932.5]"
Denominator "[1 43.96 1932.]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Outport
Name "Out1"
Position [525, 158, 555, 172]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "KZJ"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "KDY*KFJ"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [15, 0; 0, 65; -315, 0]
Branch {
DstBlock "KF"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "Dead Zone"
DstPort 1
}
}
Line {
SrcBlock "KZH"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "KZH"
DstPort 1
}
Line {
SrcBlock "KF"
SrcPort 1
Points [-30, 0; 0, -50]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Saturation1"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "KDY*KFJ"
DstPort 1
}
Line {
SrcBlock "Dead Zone"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "KZJ"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 45, 0]
Branch {
Points [0, 45; -455, 0; 0, -160]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Out1"
DstPort 1
}
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [80, 85, 100, 105]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [385, 85, 405, 105]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [385, 235, 445, 265]
VariableName "simout"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [420, 77, 480, 113]
Numerator "[1]"
Denominator "[4 0.2]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [305, 77, 365, 113]
Numerator "[-2 1]"
Denominator "[1 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Line {
SrcBlock "Fr"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, 130]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [5, 0; 0, 90; -400, 0]
Branch {
DstBlock "Sum1"
DstPort 2
}
Branch {
Points [0, 20]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "Subsystem1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, 0; 80, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Nr"
SrcPort 1
Points [20, 0]
DstBlock "Sum2"
DstPort 2
}
}
}
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