📄 c9mdsp_new.mdl
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PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType SubSystem
Name "RTI Data Store"
Ports []
Position [146, 12, 181, 25]
ForegroundColor "white"
ShowName off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
MaskType "RTI_DATA_STORE"
MaskDescription "RTI Data Store Block. This block is use"
"d by RTI to store internal model dependent data. Deleting this block will res"
"ult in data loss.\n\nNEVER DELETE, COPY, OR MODIFY THIS BLOCK!"
MaskHelp "RTI Data Store Block. This block is use"
"d by RTI to store internal model dependent data. Deleting this block will res"
"ult in data loss.\n\nNEVER DELETE, COPY, OR MODIFY THIS BLOCK!"
MaskDisplay "text(0.5, 0.5, ' ', 'HorizontalAlignmen"
"t', 'center');"
MaskIconFrame off
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
System {
Name "RTI Data Store"
Location [450, 250, 640, 300]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType SubSystem
Name "RTI Data Store"
Ports []
Position [146, 12, 181, 25]
ForegroundColor "white"
ShowName off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
MaskType "RTI_DATA_STORE"
MaskDescription "RTI Data Store Block. This block is"
" used by RTI to store internal model dependent data. Deleting this block will"
" result in data loss.\n\nNEVER DELETE, COPY, OR MODIFY THIS BLOCK!"
MaskHelp "RTI Data Store Block. This block is"
" used by RTI to store internal model dependent data. Deleting this block will"
" result in data loss.\n\nNEVER DELETE, COPY, OR MODIFY THIS BLOCK!"
MaskDisplay "text(0.5, 0.5, ' ', 'HorizontalAlig"
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MaskIconFrame off
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
System {
Name "RTI Data Store"
Location [450, 250, 640, 300]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType SubSystem
Name "RTI Data Store"
Ports []
Position [146, 12, 181, 25]
ForegroundColor "white"
ShowName off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
MaskType "RTI_DATA_STORE"
MaskDescription "RTI Data Store Block. This block "
"is used by RTI to store internal model dependent data. Deleting this block wi"
"ll result in data loss.\n\nNEVER DELETE, COPY, OR MODIFY THIS BLOCK!"
MaskHelp "RTI Data Store Block. This block "
"is used by RTI to store internal model dependent data. Deleting this block wi"
"ll result in data loss.\n\nNEVER DELETE, COPY, OR MODIFY THIS BLOCK!"
MaskDisplay "text(0.5, 0.5, ' ', 'HorizontalAl"
"ignment', 'center');"
MaskIconFrame off
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
System {
Name "RTI Data Store"
Location [450, 250, 640, 300]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
}
}
}
}
}
}
}
}
}
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [250, 269, 280, 301]
Orientation "left"
FontName "Times New Roman"
FontSize 14
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [845, 120, 875, 150]
NamePlacement "alternate"
FontName "Times New Roman"
FontSize 14
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [715, 344, 745, 376]
Orientation "left"
ShowName off
FontName "Times New Roman"
FontSize 14
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData2"
DataFormat "StructureWithTime"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [300, 165, 320, 185]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [415, 165, 435, 185]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [565, 165, 585, 185]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
Ports [3, 1]
Position [695, 165, 715, 185]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "++-"
}
Block {
BlockType TransferFcn
Name "filter2"
Position [400, 338, 465, 382]
Orientation "left"
FontName "Times New Roman"
FontSize 14
Numerator "[50]"
Denominator "[1 50]"
}
Block {
BlockType SignalGenerator
Name "waveform"
Ports [0, 1]
Position [125, 149, 180, 201]
WaveForm "square"
Frequency "0.05"
}
Line {
SrcBlock "waveform"
SrcPort 1
DstBlock "Command \nin \ncentimeters"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Kp_bb"
DstPort 1
}
Line {
SrcBlock "Kp_bb"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Derivative\nw/ filter"
SrcPort 1
DstBlock "Kv_bb"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Aplha to Theta"
DstPort 1
}
Line {
SrcBlock "Aplha to Theta"
SrcPort 1
DstBlock "Must \nOpertate\nin Linear\nRegion"
DstPort 1
}
Line {
SrcBlock "Command \nin \ncentimeters"
SrcPort 1
DstBlock "Physical\nLimitation\nof Beam"
DstPort 1
}
Line {
SrcBlock "filter2"
SrcPort 1
DstBlock "Calibrate Postion \nto read in centimeters\n(-2"
"0 to 20) "
DstPort 1
}
Line {
SrcBlock "Must \nOpertate\nin Linear\nRegion"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Cable Gain\nPre-Compensation"
DstPort 1
}
Line {
SrcBlock "DS1104ENC_POS_C1"
SrcPort 1
DstBlock "Conversion to Radians"
DstPort 1
}
Line {
SrcBlock "Conversion to Radians"
SrcPort 1
Points [-10, 0]
Branch {
Points [-130, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
DstBlock "Derivative\nw/ filter1"
DstPort 1
}
}
Line {
SrcBlock "Derivative\nw/ filter1"
SrcPort 1
DstBlock "Outer Loop Kd1"
DstPort 1
}
Line {
SrcBlock "Kv_bb"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "DS1104ADC_C7"
SrcPort 1
DstBlock "Conversion to Radians1"
DstPort 1
}
Line {
SrcBlock "Physical\nLimitation\nof Beam"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Calibrate Postion \nto read in centimeters\n(-2"
"0 to 20) "
SrcPort 1
Points [-5, 0; 0, -40]
Branch {
Points [0, -35; 0, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Branch {
Points [115, 0]
DstBlock "Derivative\nw/ filter"
DstPort 1
}
}
Line {
SrcBlock "DS1104ENC_POS_C1"
SrcPort 2
DstBlock "Scope2"
DstPort 1
}
Line {
SrcBlock "Conversion to Radians1"
SrcPort 1
DstBlock "filter2"
DstPort 1
}
Line {
SrcBlock "Cable Gain\nPre-Compensation"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "DS1104DAC_C1"
DstPort 1
}
Branch {
Points [0, -40]
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "Kp\n1"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Kp\n"
DstPort 1
}
Branch {
DstBlock "Kp\n1"
DstPort 1
}
}
Line {
SrcBlock "Kp\n"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Outer Loop Kd1"
SrcPort 1
DstBlock "Sum3"
DstPort 3
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Annotation {
Name "Kv"
Position [737, 229]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "Ki"
Position [629, 151]
UseDisplayTextAsClickCallback off
}
}
}
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