pid.mdl

pid controler 程序比较简单

	      Version		      "1.1.0"
	      TargetFcnLib	      "ansi_tfl_tmw.mat"
	      TargetLibSuffix	      ""
	      TargetPreCompLibLocation ""
	      GenFloatMathFcnCalls    "ANSI_C"
	      UtilityFuncGeneration   "Auto"
	      GenerateFullHeader      on
	      GenerateSampleERTMain   off
	      IsPILTarget	      off
	      ModelReferenceCompliant on
	      IncludeMdlTerminateFcn  on
	      CombineOutputUpdateFcns off
	      SuppressErrorStatus     off
	      IncludeFileDelimiter    "Auto"
	      ERTCustomFileBanners    off
	      SupportAbsoluteTime     on
	      LogVarNameModifier      "rt_"
	      MatFileLogging	      on
	      MultiInstanceERTCode    off
	      SupportNonFinite	      on
	      SupportComplex	      on
	      PurelyIntegerCode	      off
	      SupportContinuousTime   on
	      SupportNonInlinedSFcns  on
	      ExtMode		      off
	      ExtModeStaticAlloc      off
	      ExtModeTesting	      off
	      ExtModeStaticAllocSize  1000000
	      ExtModeTransport	      0
	      ExtModeMexFile	      "ext_comm"
	      RTWCAPISignals	      off
	      RTWCAPIParams	      off
	      RTWCAPIStates	      off
	      GenerateASAP2	      off
	    }
	    PropName		    "Components"
	  }
	}
	PropName		"Components"
      }
      Name		      "Configuration"
      SimulationMode	      "normal"
      CurrentDlgPage	      "Solver"
    }
    PropName		    "ConfigurationSets"
  }
  Simulink.ConfigSet {
    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    1
  }
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Derivative
      LinearizePole	      "inf"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      Scope
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      TransportDelay
      DelayTime		      "1"
      InitialOutput	      "0"
      BufferSize	      "1024"
      FixedBuffer	      off
      TransDelayFeedthrough   off
      PadeOrder		      "0"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "arial"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "pid"
    Location		    [480, 93, 1060, 369]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [325, 55, 355, 85]
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [160, 112, 220, 148]
      Gain		      "0.3"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [270, 165, 300, 195]
      Gain		      "1/396"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [270, 55, 300, 85]
      Gain		      "90"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [325, 165, 355, 195]
      IgnoreLimit	      off
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [2]
      Position		      [630, 106, 660, 139]
      Floating		      off
      Location		      [84, 379, 615, 763]
      Open		      off
      NumInputPorts	      "2"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      YMin		      "-5~-5"
      YMax		      "5~5"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [30, 115, 60, 145]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [90, 106, 110, 154]
      ShowName		      off
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [3, 1]
      Position		      [385, 96, 405, 149]
      ShowName		      off
      Inputs		      "|+++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [430, 97, 490, 133]
      Numerator		      "[8]"
      Denominator	      "[360 1]"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Transport\nDelay"
      Position		      [540, 100, 570, 130]
      DelayTime		      "180"
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"Transport\nDelay"
	DstPort			1
      }
      Branch {
	Points			[0, 50; 115, 0]
	DstBlock		"Scope"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Transport\nDelay"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 120; -525, 0]
	DstBlock		"Sum"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	Points			[0, 50]
	DstBlock		"Gain1"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"Gain2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Transfer Fcn"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [5, 0; 0, -35]
      DstBlock		      "Sum1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      DstBlock		      "Derivative"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      Points		      [5, 0; 0, 45]
      DstBlock		      "Sum1"
      DstPort		      1
    }
  }
}