📄 c9mmot.mdl
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BlockType Gain
Name "Kp\n"
Position [125, 75, 155, 105]
Gain "Kp"
}
Block {
BlockType SubSystem
Name "SRV02\nPlant Model"
Ports [1, 1]
Position [220, 51, 310, 129]
TreatAsAtomicUnit off
System {
Name "SRV02\nPlant Model"
Location [37, 174, 995, 458]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "Vm (V)"
Position [65, 108, 95, 122]
}
Block {
BlockType Integrator
Name "Acceleration\nto\nVelocity"
Ports [1, 1]
Position [530, 100, 560, 130]
}
Block {
BlockType Gain
Name "Back EMF"
Position [445, 160, 500, 210]
Orientation "left"
Gain "Km*Kg"
}
Block {
BlockType Gain
Name "Current -> Torque"
Position [280, 88, 410, 142]
Gain "Eff_G*Eff_M*Kt*Kg"
}
Block {
BlockType Gain
Name "Inertia"
Position [465, 95, 510, 135]
Gain "1/Jeq"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [180, 105, 200, 125]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [425, 105, 445, 125]
ShowName off
IconShape "round"
Inputs "-+|"
}
Block {
BlockType Saturate
Name "UPM Voltage\nSaturation\n"
Position [120, 100, 150, 130]
UpperLimit "VMAX_UPM"
LowerLimit "-VMAX_UPM"
}
Block {
BlockType Integrator
Name "Velocity \nto \nPosition"
Ports [1, 1]
Position [595, 99, 625, 131]
}
Block {
BlockType Gain
Name "Viscous Damping"
Position [490, 35, 530, 75]
Orientation "left"
Gain "Beq"
}
Block {
BlockType Gain
Name "Voltage -> Current"
Position [220, 94, 265, 136]
Gain "1/Rm"
}
Block {
BlockType Outport
Name "Theta (rad)"
Position [650, 108, 680, 122]
}
Line {
SrcBlock "Velocity \nto \nPosition"
SrcPort 1
DstBlock "Theta (rad)"
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 [-250, 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 [-50, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Vm (V)"
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 [10, 0]
Branch {
DstBlock "Velocity \nto \nPosition"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "Back EMF"
DstPort 1
}
Branch {
Points [0, 0; 0, -60]
DstBlock "Viscous Damping"
DstPort 1
}
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [90, 80, 110, 100]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [180, 80, 200, 100]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Outport
Name "Theta"
Position [360, 83, 390, 97]
}
Line {
SrcBlock "SRV02\nPlant Model"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 85]
DstBlock "Kd"
DstPort 1
}
Branch {
Points [0, 85]
Branch {
Points [0, 50; -240, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -85]
DstBlock "Theta"
DstPort 1
}
}
}
Line {
SrcBlock "Kp\n"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "SRV02\nPlant Model"
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 [-15, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Theta_d"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
}
}
Block {
BlockType Gain
Name "Theta to Alpha"
Position [380, 65, 425, 105]
Gain "r/L"
}
Block {
BlockType Integrator
Name "Velocity \nto Position"
Ports [1, 1]
Position [630, 70, 660, 100]
}
Block {
BlockType Gain
Name "m -> cm"
Position [685, 66, 715, 104]
Gain "100"
}
Block {
BlockType Outport
Name "Out1"
Position [735, 78, 765, 92]
}
Line {
SrcBlock "Theta to Alpha"
SrcPort 1
DstBlock "Non-Linear\nRelationship"
DstPort 1
}
Line {
SrcBlock "Non-Linear\nRelationship"
SrcPort 1
DstBlock "Dynamics of\nthe Ball"
DstPort 1
}
Line {
SrcBlock "Dynamics of\nthe Ball"
SrcPort 1
DstBlock "Acceleration\nto Velocity"
DstPort 1
}
Line {
SrcBlock "Acceleration\nto Velocity"
SrcPort 1
DstBlock "Velocity \nto Position"
DstPort 1
}
Line {
SrcBlock "Velocity \nto Position"
SrcPort 1
DstBlock "m -> cm"
DstPort 1
}
Line {
SrcBlock "Alpha to Theta"
SrcPort 1
DstBlock "Must \nOpertate\nin Linear\nRegion"
DstPort 1
}
Line {
SrcBlock "SRV02\nClosed-Loop\nSystem"
SrcPort 1
DstBlock "Theta to Alpha"
DstPort 1
}
Line {
SrcBlock "Must \nOpertate\nin Linear\nRegion"
SrcPort 1
DstBlock "SRV02\nClosed-Loop\nSystem"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Alpha to Theta"
DstPort 1
}
Line {
SrcBlock "m -> cm"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
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